Test.ipynb · OSCHINA-MIRROR/cungudafa-fatigue_detecting

OSCHINA-MIRROR/cungudafa-fatigue_detecting

Присоединиться к Gitlife

Откройте для себя и примите участие в публичных проектах с открытым исходным кодом с участием более 10 миллионов разработчиков. Приватные репозитории также полностью бесплатны :)

Присоединиться бесплатно

Клонировать/Скачать

Test.ipynb 320 КБ

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[INFO] loading facial landmark predictor...\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "D:\\mydownload\\Anaconda3\\lib\\site-packages\\ipykernel_launcher.py:152: DeprecationWarning: In future, it will be an error for 'np.bool_' scalars to be interpreted as an index\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.53 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n"
     ]
    }
   ],
   "source": [
    "# -*- coding: utf-8 -*-\n",
    "# import the necessary packages\n",
    "from scipy.spatial import distance as dist\n",
    "from imutils.video import FileVideoStream\n",
    "from imutils.video import VideoStream\n",
    "from imutils import face_utils\n",
    "import numpy as np # 数据处理的库 numpy\n",
    "import argparse\n",
    "import imutils\n",
    "import time\n",
    "import dlib\n",
    "import cv2\n",
    " \n",
    " \n",
    "def eye_aspect_ratio(eye):\n",
    "    # 垂直眼标志（X，Y）坐标\n",
    "    A = dist.euclidean(eye[1], eye[5])# 计算两个集合之间的欧式距离\n",
    "    B = dist.euclidean(eye[2], eye[4])\n",
    "    # 计算水平之间的欧几里得距离\n",
    "    # 水平眼标志（X，Y）坐标\n",
    "    C = dist.euclidean(eye[0], eye[3])\n",
    "    # 眼睛长宽比的计算\n",
    "    ear = (A + B) / (2.0 * C)\n",
    "    # 返回眼睛的长宽比\n",
    "    return ear\n",
    " \n",
    "def mouth_aspect_ratio(mouth):\n",
    "    A = np.linalg.norm(mouth[2] - mouth[9])  # 51, 59\n",
    "    B = np.linalg.norm(mouth[4] - mouth[7])  # 53, 57\n",
    "    C = np.linalg.norm(mouth[0] - mouth[6])  # 49, 55\n",
    "    mar = (A + B) / (2.0 * C)\n",
    "    return mar\n",
    "\n",
    "\n",
    "# 定义两个常数\n",
    "# 眼睛长宽比\n",
    "# 闪烁阈值\n",
    "EYE_AR_THRESH = 0.2\n",
    "EYE_AR_CONSEC_FRAMES = 3\n",
    "# 打哈欠长宽比\n",
    "# 闪烁阈值\n",
    "MAR_THRESH = 0.5\n",
    "MOUTH_AR_CONSEC_FRAMES = 3\n",
    "# 初始化帧计数器和眨眼总数\n",
    "COUNTER = 0\n",
    "TOTAL = 0\n",
    "# 初始化帧计数器和打哈欠总数\n",
    "mCOUNTER = 0\n",
    "mTOTAL = 0\n",
    " \n",
    "# 初始化DLIB的人脸检测器（HOG），然后创建面部标志物预测\n",
    "print(\"[INFO] loading facial landmark predictor...\")\n",
    "# 第一步：使用dlib.get_frontal_face_detector() 获得脸部位置检测器\n",
    "detector = dlib.get_frontal_face_detector()\n",
    "# 第二步：使用dlib.shape_predictor获得脸部特征位置检测器\n",
    "predictor = dlib.shape_predictor('D:/myworkspace/JupyterNotebook/fatigue_detecting/model/shape_predictor_68_face_landmarks.dat')\n",
    " \n",
    "# 第三步：分别获取左右眼面部标志的索引\n",
    "(lStart, lEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"left_eye\"]\n",
    "(rStart, rEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"right_eye\"]\n",
    "(mStart, mEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"mouth\"]\n",
    "\n",
    "# 第四步：打开cv2 本地摄像头\n",
    "cap = cv2.VideoCapture(0)\n",
    " \n",
    "# 从视频流循环帧\n",
    "while True:\n",
    "    # 第五步：进行循环，读取图片，并对图片做维度扩大，并进灰度化\n",
    "    ret, frame = cap.read()\n",
    "    frame = imutils.resize(frame, width=720)\n",
    "    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
    "    # 第六步：使用detector(gray, 0) 进行脸部位置检测\n",
    "    rects = detector(gray, 0)\n",
    "    \n",
    "    # 第七步：循环脸部位置信息，使用predictor(gray, rect)获得脸部特征位置的信息\n",
    "    for rect in rects:\n",
    "        shape = predictor(gray, rect)\n",
    "        \n",
    "        # 第八步：将脸部特征信息转换为数组array的格式\n",
    "        shape = face_utils.shape_to_np(shape)\n",
    "        \n",
    "        # 第九步：提取左眼和右眼坐标\n",
    "        leftEye = shape[lStart:lEnd]\n",
    "        rightEye = shape[rStart:rEnd]\n",
    "        # 嘴巴坐标\n",
    "        mouth = shape[mStart:mEnd]\n",
    "        \n",
    "        \n",
    "        # 第十步：构造函数计算左右眼的EAR值，使用平均值作为最终的EAR\n",
    "        leftEAR = eye_aspect_ratio(leftEye)\n",
    "        rightEAR = eye_aspect_ratio(rightEye)\n",
    "        ear = (leftEAR + rightEAR) / 2.0\n",
    "        # 打哈欠\n",
    "        mar = mouth_aspect_ratio(mouth)\n",
    " \n",
    "        # 第十一步：使用cv2.convexHull获得凸包位置，使用drawContours画出轮廓位置进行画图操作\n",
    "        leftEyeHull = cv2.convexHull(leftEye)\n",
    "        rightEyeHull = cv2.convexHull(rightEye)\n",
    "        cv2.drawContours(frame, [leftEyeHull], -1, (0, 255, 0), 1)\n",
    "        cv2.drawContours(frame, [rightEyeHull], -1, (0, 255, 0), 1)\n",
    "        mouthHull = cv2.convexHull(mouth)\n",
    "        cv2.drawContours(frame, [mouthHull], -1, (0, 255, 0), 1)\n",
    " \n",
    "        # 第十二步：进行画图操作，用矩形框标注人脸\n",
    "        left = rect.left()\n",
    "        top = rect.top()\n",
    "        right = rect.right()\n",
    "        bottom = rect.bottom()\n",
    "        cv2.rectangle(frame, (left, top), (right, bottom), (0, 255, 0), 3)    \n",
    " \n",
    "        '''\n",
    "            分别计算左眼和右眼的评分求平均作为最终的评分，如果小于阈值，则加1，如果连续3次都小于阈值，则表示进行了一次眨眼活动\n",
    "        '''\n",
    "        # 第十三步：循环，满足条件的，眨眼次数+1\n",
    "        if ear < EYE_AR_THRESH:# 眼睛长宽比：0.2\n",
    "            COUNTER += 1\n",
    "           \n",
    "        else:\n",
    "            # 如果连续3次都小于阈值，则表示进行了一次眨眼活动\n",
    "            if COUNTER >= EYE_AR_CONSEC_FRAMES:# 阈值：3\n",
    "                TOTAL += 1\n",
    "            # 重置眼帧计数器\n",
    "            COUNTER = 0\n",
    "            \n",
    "        # 第十四步：进行画图操作，同时使用cv2.putText将眨眼次数进行显示\n",
    "        cv2.putText(frame, \"Faces: {}\".format(len(rects)), (10, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        cv2.putText(frame, \"Blinks: {}\".format(TOTAL), (150, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        cv2.putText(frame, \"COUNTER: {}\".format(COUNTER), (300, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2) \n",
    "        cv2.putText(frame, \"EAR: {:.2f}\".format(ear), (450, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        \n",
    "        '''\n",
    "            计算张嘴评分，如果小于阈值，则加1，如果连续3次都小于阈值，则表示打了一次哈欠，同一次哈欠大约在3帧\n",
    "        '''\n",
    "        # 同理，判断是否打哈欠    \n",
    "        if mar > MAR_THRESH:# 张嘴阈值0.5\n",
    "            mCOUNTER += 1\n",
    "            cv2.putText(frame, \"Yawning!\", (10, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        else:\n",
    "            # 如果连续3次都小于阈值，则表示打了一次哈欠\n",
    "            if mCOUNTER >= MOUTH_AR_CONSEC_FRAMES:# 阈值：3\n",
    "                mTOTAL += 1\n",
    "            # 重置嘴帧计数器\n",
    "            mCOUNTER = 0\n",
    "        cv2.putText(frame, \"Yawning: {}\".format(mTOTAL), (150, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        cv2.putText(frame, \"mCOUNTER: {}\".format(mCOUNTER), (300, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2) \n",
    "        cv2.putText(frame, \"MAR: {:.2f}\".format(mar), (480, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "            \n",
    "        # 第十五步：进行画图操作，68个特征点标识\n",
    "        for (x, y) in shape:\n",
    "            cv2.circle(frame, (x, y), 1, (0, 0, 255), -1)\n",
    "\n",
    "    print('嘴巴实时长宽比:{:.2f} '.format(mar)+\"\\t是否张嘴：\"+str([False,True][mar > MAR_THRESH]))\n",
    "    print('眼睛实时长宽比:{:.2f} '.format(ear)+\"\\t是否眨眼：\"+str([False,True][COUNTER>=1]))\n",
    "    \n",
    "    # 确定疲劳提示\n",
    "    if TOTAL >= 50 or mTOTAL>=15:\n",
    "        cv2.putText(frame, \"SLEEP!!!\", (100, 200),cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 3)\n",
    "        \n",
    "    # 按q退出\n",
    "    cv2.putText(frame, \"Press 'q': Quit\", (20, 500),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (84, 255, 159), 2)\n",
    "    # 窗口显示 show with opencv\n",
    "    cv2.imshow(\"Frame\", frame)\n",
    "    \n",
    "    # if the `q` key was pressed, break from the loop\n",
    "    if cv2.waitKey(1) & 0xFF == ord('q'):\n",
    "        break\n",
    "        \n",
    "# 释放摄像头 release camera\n",
    "cap.release()\n",
    "# do a bit of cleanup\n",
    "cv2.destroyAllWindows()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28795339]\n",
      " [ 0.12774694]\n",
      " [-0.25047449]]\n",
      "Translation Vector:\n",
      " [[ 341.79770399]\n",
      " [  47.68323618]\n",
      " [3389.54417784]]\n",
      "used_time:0.554 sec\n",
      "t0:0.15128660684155779, t1:-0.9760368099084753\n",
      "pitch:2.987815451701243, yaw:-0.15705622270622585, roll:-0.06554251739732628\n",
      "Y:171, X:-8, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28971491]\n",
      " [ 0.12447173]\n",
      " [-0.25155751]]\n",
      "Translation Vector:\n",
      " [[ 340.18522843]\n",
      " [  47.22105966]\n",
      " [3380.54348181]]\n",
      "used_time:0.068 sec\n",
      "t0:0.15310565776403243, t1:-0.9756796429682955\n",
      "pitch:2.9859399373956057, yaw:-0.1575196275834502, roll:-0.06332788694516155\n",
      "Y:171, X:-9, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28295523]\n",
      " [ 0.13008136]\n",
      " [-0.34468586]]\n",
      "Translation Vector:\n",
      " [[ 346.40066467]\n",
      " [  45.07729256]\n",
      " [3382.07540854]]\n",
      "used_time:0.078 sec\n",
      "t0:0.15209351105738667, t1:-0.9652813562230151\n",
      "pitch:2.985313566361145, yaw:-0.21399591281083558, roll:-0.062385567288694536\n",
      "Y:171, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27321974]\n",
      " [ 0.11803741]\n",
      " [-0.308361  ]]\n",
      "Translation Vector:\n",
      " [[ 342.67473421]\n",
      " [  48.79120912]\n",
      " [3395.73295801]]\n",
      "used_time:0.056 sec\n",
      "t0:0.14026090265390725, t1:-0.9715579684940161\n",
      "pitch:2.998216259407281, yaw:-0.19196998757698083, roll:-0.0582640040257562\n",
      "Y:171, X:-10, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26812707]\n",
      " [ 0.12848846]\n",
      " [-0.32014571]]\n",
      "Translation Vector:\n",
      " [[ 346.45983471]\n",
      " [  47.81377774]\n",
      " [3412.29971394]]\n",
      "used_time:0.064 sec\n",
      "t0:0.13581155083306426, t1:-0.9706689067113725\n",
      "pitch:3.002579664068945, yaw:-0.1997111495868446, roll:-0.06464098745590947\n",
      "Y:172, X:-11, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25615561]\n",
      " [ 0.13879845]\n",
      " [-0.31425328]]\n",
      "Translation Vector:\n",
      " [[ 344.61175175]\n",
      " [  48.49910273]\n",
      " [3397.47179532]]\n",
      "used_time:0.051 sec\n",
      "t0:0.12341543051366065, t1:-0.9728742336491414\n",
      "pitch:3.015410129778319, yaw:-0.19693437756376403, roll:-0.07271982428813038\n",
      "Y:172, X:-11, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24693366]\n",
      " [ 0.12559715]\n",
      " [-0.35999035]]\n",
      "Translation Vector:\n",
      " [[ 342.81790466]\n",
      " [  47.52053011]\n",
      " [3353.67341681]]\n",
      "used_time:0.054 sec\n",
      "t0:0.1180083899911415, t1:-0.9677121599223133\n",
      "pitch:3.020246037429693, yaw:-0.2246105669129391, roll:-0.06362293961377541\n",
      "Y:173, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27344559]\n",
      " [ 0.1277233 ]\n",
      " [-0.2970133 ]]\n",
      "Translation Vector:\n",
      " [[ 343.2841932 ]\n",
      " [  45.11725198]\n",
      " [3364.88989968]]\n",
      "used_time:0.058 sec\n",
      "t0:0.13955636445760278, t1:-0.9728828761114376\n",
      "pitch:2.999118357726511, yaw:-0.18551534232974334, roll:-0.06472055072626971\n",
      "Y:171, X:-10, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25435269]\n",
      " [ 0.13421277]\n",
      " [-0.25334848]]\n",
      "Translation Vector:\n",
      " [[ 340.78196377]\n",
      " [  45.87895586]\n",
      " [3372.9614495 ]]\n",
      "used_time:0.047 sec\n",
      "t0:0.11820740450363626, t1:-0.980171716348053\n",
      "pitch:3.0215735987676964, yaw:-0.1597076736681023, roll:-0.07281941377476367\n",
      "Y:173, X:-9, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24951433]\n",
      " [ 0.12928387]\n",
      " [-0.36955076]]\n",
      "Translation Vector:\n",
      " [[ 346.95409076]\n",
      " [  46.58116791]\n",
      " [3365.22383214]]\n",
      "used_time:0.056 sec\n",
      "t0:0.12122190811303908, t1:-0.9659898746202449\n",
      "pitch:3.016755390978746, yaw:-0.23043898652077413, roll:-0.0650630350701143\n",
      "Y:172, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24951433]\n",
      " [ 0.12928387]\n",
      " [-0.36955076]]\n",
      "Translation Vector:\n",
      " [[ 346.95409076]\n",
      " [  46.58116791]\n",
      " [3365.22383214]]\n",
      "used_time:0.046 sec\n",
      "t0:0.12122190811303908, t1:-0.9659898746202449\n",
      "pitch:3.016755390978746, yaw:-0.23043898652077413, roll:-0.0650630350701143\n",
      "Y:172, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25209874]\n",
      " [ 0.13802159]\n",
      " [-0.29149802]]\n",
      "Translation Vector:\n",
      " [[ 341.43007242]\n",
      " [  45.78011036]\n",
      " [3348.03882176]]\n",
      "used_time:0.051 sec\n",
      "t0:0.11800330166152267, t1:-0.9761661917158349\n",
      "pitch:3.0212919359348023, yaw:-0.18316188216262186, roll:-0.07376925449204136\n",
      "Y:173, X:-10, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25549794]\n",
      " [ 0.134773  ]\n",
      " [-0.3549093 ]]\n",
      "Translation Vector:\n",
      " [[ 345.76150358]\n",
      " [  43.43647615]\n",
      " [3336.55673264]]\n",
      "used_time:0.048 sec\n",
      "t0:0.12577095978699349, t1:-0.9674279310479559\n",
      "pitch:3.012312232923353, yaw:-0.2214994204696133, roll:-0.06835350971973404\n",
      "Y:172, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24424961]\n",
      " [ 0.12404584]\n",
      " [-0.38115459]]\n",
      "Translation Vector:\n",
      " [[ 352.10479188]\n",
      " [  41.21928447]\n",
      " [3352.86644015]]\n",
      "used_time:0.047 sec\n",
      "t0:0.11720948035607945, t1:-0.9648242384495298\n",
      "pitch:3.0207023053120814, yaw:-0.23754916550764965, roll:-0.06199002096457088\n",
      "Y:173, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26717204]\n",
      " [ 0.12041215]\n",
      " [-0.36649597]]\n",
      "Translation Vector:\n",
      " [[ 352.51504827]\n",
      " [  42.41083533]\n",
      " [3369.60782106]]\n",
      "used_time:0.047 sec\n",
      "t0:0.13860341811354643, t1:-0.964342955773976\n",
      "pitch:2.9988419241293522, yaw:-0.2274141305255209, roll:-0.05734751231347102\n",
      "Y:171, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26074892]\n",
      " [ 0.12351397]\n",
      " [-0.33595492]]\n",
      "Translation Vector:\n",
      " [[ 348.59620249]\n",
      " [  41.16694488]\n",
      " [3355.63463554]]\n",
      "used_time:0.045 sec\n",
      "t0:0.12979759026248344, t1:-0.9695137720530855\n",
      "pitch:3.008504967578745, yaw:-0.20936170719921657, roll:-0.06171854601241435\n",
      "Y:172, X:-11, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25339882]\n",
      " [ 0.12851844]\n",
      " [-0.38154919]]\n",
      "Translation Vector:\n",
      " [[ 352.09507298]\n",
      " [  39.48383834]\n",
      " [3356.29892312]]\n",
      "used_time:0.059 sec\n",
      "t0:0.12608443264193628, t1:-0.963714834097094\n",
      "pitch:3.0114998765806202, yaw:-0.23750611180834413, roll:-0.06342102538353812\n",
      "Y:172, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25034586]\n",
      " [ 0.12977676]\n",
      " [-0.35870814]]\n",
      "Translation Vector:\n",
      " [[ 347.80635234]\n",
      " [  40.86320367]\n",
      " [3352.66104843]]\n",
      "used_time:0.046 sec\n",
      "t0:0.12113958549106407, t1:-0.9674991214011144\n",
      "pitch:3.017031891935951, yaw:-0.22383434014510395, roll:-0.06579484769079386\n",
      "Y:172, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25034586]\n",
      " [ 0.12977676]\n",
      " [-0.35870814]]\n",
      "Translation Vector:\n",
      " [[ 347.80635234]\n",
      " [  40.86320367]\n",
      " [3352.66104843]]\n",
      "used_time:0.046 sec\n",
      "t0:0.12113958549106407, t1:-0.9674991214011144\n",
      "pitch:3.017031891935951, yaw:-0.22383434014510395, roll:-0.06579484769079386\n",
      "Y:172, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24291317]\n",
      " [ 0.12791809]\n",
      " [-0.38480827]]\n",
      "Translation Vector:\n",
      " [[ 346.21731214]\n",
      " [  41.96216885]\n",
      " [3346.43766932]]\n",
      "used_time:0.047 sec\n",
      "t0:0.11608244008261115, t1:-0.9643834132669649\n",
      "pitch:3.021799395948251, yaw:-0.23997176139952375, roll:-0.0643900507562528\n",
      "Y:173, X:-13, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24915218]\n",
      " [ 0.12105296]\n",
      " [-0.33797249]]\n",
      "Translation Vector:\n",
      " [[ 345.0901607 ]\n",
      " [  41.2814313 ]\n",
      " [3351.76421802]]\n",
      "used_time:0.047 sec\n",
      "t0:0.11859387334359767, t1:-0.9706119770273911\n",
      "pitch:3.020010661242028, yaw:-0.21096015168153778, roll:-0.06159116405096395\n",
      "Y:173, X:-12, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25481628]\n",
      " [ 0.1290886 ]\n",
      " [-0.32680512]]\n",
      "Translation Vector:\n",
      " [[ 343.46830363]\n",
      " [  41.1954866 ]\n",
      " [3364.45669892]]\n",
      "used_time:0.048 sec\n",
      "t0:0.12315164440650835, t1:-0.9714390004831803\n",
      "pitch:3.015492918366819, yaw:-0.2042469620453512, roll:-0.06634036760173144\n",
      "Y:172, X:-11, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25415555]\n",
      " [ 0.12659413]\n",
      " [-0.29414662]]\n",
      "Translation Vector:\n",
      " [[ 337.10564317]\n",
      " [  42.80484552]\n",
      " [3402.1872369 ]]\n",
      "used_time:0.045 sec\n",
      "t0:0.12037816153106655, t1:-0.9756653386977157\n",
      "pitch:3.018832475190946, yaw:-0.1843071930439992, roll:-0.06640631143999452\n",
      "Y:172, X:-10, Z:-3\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28306819]\n",
      " [ 0.16279422]\n",
      " [ 0.10882999]]\n",
      "Translation Vector:\n",
      " [[ 271.65789384]\n",
      " [  36.40059662]\n",
      " [3428.44023691]]\n",
      "used_time:0.105 sec\n",
      "t0:0.14977575107568677, t1:-0.9869913991042139\n",
      "pitch:2.9909918473486323, yaw:0.05847304892398459, roll:-0.10350347731981607\n",
      "Y:171, X:3, Z:-5\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26816481]\n",
      " [ 0.18997709]\n",
      " [ 0.39416603]]\n",
      "Translation Vector:\n",
      " [[ 209.0705659]\n",
      " [  34.325029 ]\n",
      " [3406.2166687]]\n",
      "used_time:0.062 sec\n",
      "t0:0.16742446820869486, t1:-0.9594908189974014\n",
      "pitch:2.9688389268080946, yaw:0.22858286162478464, roll:-0.13600800804623386\n",
      "Y:170, X:13, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26816481]\n",
      " [ 0.18997709]\n",
      " [ 0.39416603]]\n",
      "Translation Vector:\n",
      " [[ 209.0705659]\n",
      " [  34.325029 ]\n",
      " [3406.2166687]]\n",
      "used_time:0.045 sec\n",
      "t0:0.16742446820869486, t1:-0.9594908189974014\n",
      "pitch:2.9688389268080946, yaw:0.22858286162478464, roll:-0.13600800804623386\n",
      "Y:170, X:13, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.21694308]\n",
      " [ 0.22615127]\n",
      " [ 0.69920342]]\n",
      "Translation Vector:\n",
      " [[ 140.53643695]\n",
      " [  39.56832517]\n",
      " [3376.3836431 ]]\n",
      "used_time:0.046 sec\n",
      "t0:0.18246476134321057, t1:-0.8982739591996403\n",
      "pitch:2.9411910384283373, yaw:0.41125833921071064, roll:-0.18230270376971505\n",
      "Y:168, X:23, Z:-10\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.84619165]\n",
      " [-0.21608806]\n",
      " [-0.75293607]]\n",
      "Translation Vector:\n",
      " [[  89.27533325]\n",
      " [  37.59589413]\n",
      " [3437.06261694]]\n",
      "used_time:0.046 sec\n",
      "t0:0.21869126818040927, t1:-0.8531408595261785\n",
      "pitch:2.890659035678702, yaw:0.4934071535097047, roll:-0.2150587450654902\n",
      "Y:165, X:28, Z:-12\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.15717481]\n",
      " [ 0.24803782]\n",
      " [ 1.03788324]]\n",
      "Translation Vector:\n",
      " [[  42.5378284 ]\n",
      " [  38.88323846]\n",
      " [3384.69862804]]\n",
      "used_time:0.047 sec\n",
      "t0:0.2258238225752381, t1:-0.7895936387208882\n",
      "pitch:2.863028814527662, yaw:0.6071948037448112, roll:-0.24458580544741165\n",
      "Y:164, X:34, Z:-14\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.30134965]\n",
      " [-3.76889924]\n",
      " [-0.27691352]]\n",
      "Translation Vector:\n",
      " [[  -27.07458736]\n",
      " [  -50.63210373]\n",
      " [-3530.58209365]]\n",
      "used_time:0.046 sec\n",
      "t0:0.17852196192325331, t1:-0.7868247782324191\n",
      "pitch:2.918480872421806, yaw:0.6320416783952181, roll:2.908793969617795\n",
      "Y:167, X:36, Z:166\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.32109064]\n",
      " [-3.86041237]\n",
      " [-0.33363413]]\n",
      "Translation Vector:\n",
      " [[    4.78018922]\n",
      " [  -52.72948348]\n",
      " [-3469.08067277]]\n",
      "used_time:0.134 sec\n",
      "t0:0.20382061592046802, t1:-0.721307775832662\n",
      "pitch:2.8662015138786017, yaw:0.7234117535439877, roll:2.8708619193839606\n",
      "Y:164, X:41, Z:164\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.32672129]\n",
      " [-3.87001034]\n",
      " [-0.28255631]]\n",
      "Translation Vector:\n",
      " [[    8.88366128]\n",
      " [  -52.58394261]\n",
      " [-3485.28315356]]\n",
      "used_time:0.048 sec\n",
      "t0:0.18209901318202523, t1:-0.7209081903954726\n",
      "pitch:2.8941715564885397, yaw:0.7324304794989159, roll:2.8778396818284624\n",
      "Y:165, X:41, Z:164\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.30717888]\n",
      " [-3.8639465 ]\n",
      " [-0.3054228 ]]\n",
      "Translation Vector:\n",
      " [[    9.16793946]\n",
      " [  -55.95837105]\n",
      " [-3463.94083316]]\n",
      "used_time:0.045 sec\n",
      "t0:0.18901670876586804, t1:-0.7233302090099298\n",
      "pitch:2.8859936755984634, yaw:0.7263269359891318, roll:2.8853416697131684\n",
      "Y:165, X:41, Z:165\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.3401869 ]\n",
      " [-3.84743892]\n",
      " [-0.29578868]]\n",
      "Translation Vector:\n",
      " [[-4.61660568e-01]\n",
      " [-5.79482512e+01]\n",
      " [-3.49991179e+03]]\n",
      "used_time:0.053 sec\n",
      "t0:0.19094623299679472, t1:-0.733561745651689\n",
      "pitch:2.8869434702430197, yaw:0.7105455831746513, roll:2.870291909935883\n",
      "Y:165, X:40, Z:164\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.31147316]\n",
      " [-3.82035893]\n",
      " [-0.33271379]]\n",
      "Translation Vector:\n",
      " [[   -4.054416  ]\n",
      " [  -55.90414829]\n",
      " [-3506.82963833]]\n",
      "used_time:0.064 sec\n",
      "t0:0.20373258089257873, t1:-0.7478874568123375\n",
      "pitch:2.8756352403742835, yaw:0.6838590637014157, roll:2.8837460726325084\n",
      "Y:164, X:39, Z:165\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.31147316]\n",
      " [-3.82035893]\n",
      " [-0.33271379]]\n",
      "Translation Vector:\n",
      " [[   -4.054416  ]\n",
      " [  -55.90414829]\n",
      " [-3506.82963833]]\n",
      "used_time:0.048 sec\n",
      "t0:0.20373258089257873, t1:-0.7478874568123375\n",
      "pitch:2.8756352403742835, yaw:0.6838590637014157, roll:2.8837460726325084\n",
      "Y:164, X:39, Z:165\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.29985606]\n",
      " [-3.83204166]\n",
      " [-0.29297507]]\n",
      "Translation Vector:\n",
      " [[   -7.89699325]\n",
      " [  -53.37537734]\n",
      " [-3498.06861419]]\n",
      "used_time:0.046 sec\n",
      "t0:0.18357891738095777, t1:-0.7460547626096243\n",
      "pitch:2.900319731633682, yaw:0.6946010295603406, roll:2.897707529093604\n",
      "Y:166, X:39, Z:166\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.78164135]\n",
      " [-0.23995719]\n",
      " [-0.99922695]]\n",
      "Translation Vector:\n",
      " [[   5.49274287]\n",
      " [  49.86671928]\n",
      " [3429.93870087]]\n",
      "used_time:0.045 sec\n",
      "t0:0.21853762954673628, t1:-0.7591875462425259\n",
      "pitch:2.8613128987722494, yaw:0.659962114322662, roll:-0.2686583246793219\n",
      "Y:163, X:37, Z:-15\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.78626717]\n",
      " [-0.22066726]\n",
      " [-1.02493903]]\n",
      "Translation Vector:\n",
      " [[   8.32327572]\n",
      " [  50.18563275]\n",
      " [3420.27385896]]\n",
      "used_time:0.047 sec\n",
      "t0:0.20405609211163106, t1:-0.7510190602966671\n",
      "pitch:2.8762917828034236, yaw:0.6789268181931384, roll:-0.2522367172194324\n",
      "Y:164, X:38, Z:-14\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.27824347]\n",
      " [-3.847667  ]\n",
      " [-0.24916504]]\n",
      "Translation Vector:\n",
      " [[  -15.4086092 ]\n",
      " [  -56.76081894]\n",
      " [-3536.06412795]]\n",
      "used_time:0.045 sec\n",
      "t0:0.15989198234584887, t1:-0.7417899126365122\n",
      "pitch:2.9292919270075974, yaw:0.7092868447509045, roll:2.9183436969306147\n",
      "Y:167, X:40, Z:167\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.29852148]\n",
      " [-3.80252809]\n",
      " [-0.29571446]]\n",
      "Translation Vector:\n",
      " [[  -20.65080043]\n",
      " [  -53.26328849]\n",
      " [-3539.72903649]]\n",
      "used_time:0.065 sec\n",
      "t0:0.18568531339886796, t1:-0.7643944771679374\n",
      "pitch:2.9032902607424362, yaw:0.6654736875950318, roll:2.902203236235921\n",
      "Y:166, X:38, Z:166\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.29719877]\n",
      " [-3.8105129 ]\n",
      " [-0.29106347]]\n",
      "Translation Vector:\n",
      " [[  -30.49389934]\n",
      " [  -53.67113953]\n",
      " [-3486.88659788]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1830733433738722, t1:-0.7600455373552188\n",
      "pitch:2.905223757259303, yaw:0.6732757625025043, roll:2.9028601277102193\n",
      "Y:166, X:38, Z:166\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.29719877]\n",
      " [-3.8105129 ]\n",
      " [-0.29106347]]\n",
      "Translation Vector:\n",
      " [[  -30.49389934]\n",
      " [  -53.67113953]\n",
      " [-3486.88659788]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1830733433738722, t1:-0.7600455373552188\n",
      "pitch:2.905223757259303, yaw:0.6732757625025043, roll:2.9028601277102193\n",
      "Y:166, X:38, Z:166\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.17863981]\n",
      " [ 0.22147458]\n",
      " [ 0.98734485]]\n",
      "Translation Vector:\n",
      " [[  54.46212464]\n",
      " [  41.60257187]\n",
      " [3423.93882616]]\n",
      "used_time:0.046 sec\n",
      "t0:0.22284136269486185, t1:-0.8076333397649864\n",
      "pitch:2.872372280512847, yaw:0.5775321189066052, roll:-0.21954730910165784\n",
      "Y:164, X:33, Z:-12\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.20126113]\n",
      " [ 0.24330766]\n",
      " [ 0.84031584]]\n",
      "Translation Vector:\n",
      " [[  99.22541129]\n",
      " [  38.54486969]\n",
      " [3430.29687743]]\n",
      "used_time:0.046 sec\n",
      "t0:0.20673681776338987, t1:-0.8571383381190822\n",
      "pitch:2.9049187946348614, yaw:0.4913053418839377, roll:-0.21131457790999453\n",
      "Y:166, X:28, Z:-12\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2545268 ]\n",
      " [ 0.23407592]\n",
      " [ 0.57973989]]\n",
      "Translation Vector:\n",
      " [[ 163.39392588]\n",
      " [  35.84380391]\n",
      " [3468.58857847]]\n",
      "used_time:0.046 sec\n",
      "t0:0.193037372006783, t1:-0.9244180355098353\n",
      "pitch:2.9357304747464776, yaw:0.3351589114460993, roll:-0.17854392547809947\n",
      "Y:168, X:19, Z:-10\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.32132061]\n",
      " [ 0.21256445]\n",
      " [ 0.11531085]]\n",
      "Translation Vector:\n",
      " [[ 252.04319243]\n",
      " [  25.44192114]\n",
      " [3465.85223657]]\n",
      "used_time:0.047 sec\n",
      "t0:0.19129197122891844, t1:-0.9799058808234742\n",
      "pitch:2.9488026096636735, yaw:0.05652652673851903, roll:-0.13329288427613023\n",
      "Y:168, X:3, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30376774]\n",
      " [ 0.17465813]\n",
      " [-0.38206629]]\n",
      "Translation Vector:\n",
      " [[ 341.1760781 ]\n",
      " [  16.21635771]\n",
      " [3423.61373131]]\n",
      "used_time:0.052 sec\n",
      "t0:0.17423264995136872, t1:-0.9561460819351266\n",
      "pitch:2.9613464649492687, yaw:-0.23766178658762213, roll:-0.0840565364751299\n",
      "Y:169, X:-13, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28935354]\n",
      " [ 0.15528178]\n",
      " [-0.57425812]]\n",
      "Translation Vector:\n",
      " [[ 408.66957251]\n",
      " [   9.05092293]\n",
      " [3374.56634446]]\n",
      "used_time:0.055 sec\n",
      "t0:0.1807784179988024, t1:-0.9214118638306905\n",
      "pitch:2.9478563020512567, yaw:-0.3511477912863474, roll:-0.05987131250474106\n",
      "Y:168, X:-20, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28935354]\n",
      " [ 0.15528178]\n",
      " [-0.57425812]]\n",
      "Translation Vector:\n",
      " [[ 408.66957251]\n",
      " [   9.05092293]\n",
      " [3374.56634446]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1807784179988024, t1:-0.9214118638306905\n",
      "pitch:2.9478563020512567, yaw:-0.3511477912863474, roll:-0.05987131250474106\n",
      "Y:168, X:-20, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28307917]\n",
      " [ 0.137734  ]\n",
      " [-0.71853639]]\n",
      "Translation Vector:\n",
      " [[4.67184987e+02]\n",
      " [1.71495608e+00]\n",
      " [3.37470809e+03]]\n",
      "used_time:0.046 sec\n",
      "t0:0.19764612911794763, t1:-0.8853077263041891\n",
      "pitch:2.921943240630151, yaw:-0.4344496029189165, roll:-0.03519174408239514\n",
      "Y:167, X:-24, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25878912]\n",
      " [ 0.10754532]\n",
      " [-0.91498871]]\n",
      "Translation Vector:\n",
      " [[ 512.71312884]\n",
      " [  -5.12348433]\n",
      " [3344.04994567]]\n",
      "used_time:0.046 sec\n",
      "t0:0.21643018069812608, t1:-0.8263340399670096\n",
      "pitch:2.8854306702149923, yaw:-0.5467721834075914, roll:0.006214328975016223\n",
      "Y:165, X:-31, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2483434 ]\n",
      " [ 0.10537645]\n",
      " [-0.98989326]]\n",
      "Translation Vector:\n",
      " [[ 545.20528747]\n",
      " [  -9.09211149]\n",
      " [3322.35465183]]\n",
      "used_time:0.045 sec\n",
      "t0:0.22419596455505103, t1:-0.8004235257106429\n",
      "pitch:2.8684943102115326, yaw:-0.5894815723562925, roll:0.018521494924541096\n",
      "Y:164, X:-33, Z:1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25120922]\n",
      " [ 0.04975335]\n",
      " [-1.02301226]]\n",
      "Translation Vector:\n",
      " [[ 578.36184992]\n",
      " [  -9.72202517]\n",
      " [3383.24571399]]\n",
      "used_time:0.056 sec\n",
      "t0:0.24316134347057958, t1:-0.7875877345097655\n",
      "pitch:2.84213517684997, yaw:-0.601883737598983, roll:0.06297100478742096\n",
      "Y:162, X:-34, Z:3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25120922]\n",
      " [ 0.04975335]\n",
      " [-1.02301226]]\n",
      "Translation Vector:\n",
      " [[ 578.36184992]\n",
      " [  -9.72202517]\n",
      " [3383.24571399]]\n",
      "used_time:0.046 sec\n",
      "t0:0.24316134347057958, t1:-0.7875877345097655\n",
      "pitch:2.84213517684997, yaw:-0.601883737598983, roll:0.06297100478742096\n",
      "Y:162, X:-34, Z:3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.09133089]\n",
      " [-2.14794952]\n",
      " [-0.32705879]]\n",
      "Translation Vector:\n",
      " [[ -595.42583187]\n",
      " [    8.68406482]\n",
      " [-3398.84293995]]\n",
      "used_time:0.045 sec\n",
      "t0:0.19832918668569027, t1:-0.532335854372217\n",
      "pitch:2.7849593442110865, yaw:-0.9666242450626842, roll:-3.037962228978339\n",
      "Y:159, X:-55, Z:-174\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.09387409]\n",
      " [-2.12011244]\n",
      " [-0.32425956]]\n",
      "Translation Vector:\n",
      " [[ -618.95683319]\n",
      " [    7.50947302]\n",
      " [-3463.99615896]]\n",
      "used_time:0.045 sec\n",
      "t0:0.19373975015371436, t1:-0.5094529579016134\n",
      "pitch:2.7781924577152335, yaw:-0.994349868760993, roll:-3.031352701083522\n",
      "Y:159, X:-56, Z:-173\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.07731895]\n",
      " [-2.09436824]\n",
      " [-0.31868151]]\n",
      "Translation Vector:\n",
      " [[ -619.80685645]\n",
      " [    6.74577154]\n",
      " [-3410.63649183]]\n",
      "used_time:0.048 sec\n",
      "t0:0.19492260690837526, t1:-0.48751685966212666\n",
      "pitch:2.7612350634860765, yaw:-1.0180336449918341, roll:-3.00135288513643\n",
      "Y:158, X:-58, Z:-171\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.07768589]\n",
      " [-2.08711706]\n",
      " [-0.31668431]]\n",
      "Translation Vector:\n",
      " [[ -621.8734981 ]\n",
      " [    5.02288465]\n",
      " [-3404.52907635]]\n",
      "used_time:0.046 sec\n",
      "t0:0.19296660248194536, t1:-0.48148008175650836\n",
      "pitch:2.760415805679791, yaw:-1.0254559258119813, roll:-2.9996313260292236\n",
      "Y:158, X:-58, Z:-171\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.73879368]\n",
      " [-0.02873431]\n",
      " [ 0.95841475]]\n",
      "Translation Vector:\n",
      " [[ 618.0797363 ]\n",
      " [  -5.46767844]\n",
      " [3367.21746762]]\n",
      "used_time:0.057 sec\n",
      "t0:0.2177238669201708, t1:-0.7563307917945767\n",
      "pitch:2.8613024289648368, yaw:-0.6647920683929692, roll:0.07633654638086655\n",
      "Y:163, X:-38, Z:4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.07829625]\n",
      " [-2.1035068 ]\n",
      " [-0.32414767]]\n",
      "Translation Vector:\n",
      " [[ -619.30141238]\n",
      " [    5.58657052]\n",
      " [-3396.04757459]]\n",
      "used_time:0.046 sec\n",
      "t0:0.19887185842161442, t1:-0.49487212582972706\n",
      "pitch:2.7594794280065136, yaw:-1.0082556573951003, roll:-3.0034012188355934\n",
      "Y:158, X:-57, Z:-172\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.08789442]\n",
      " [-2.12399181]\n",
      " [-0.31353302]]\n",
      "Translation Vector:\n",
      " [[ -623.47712086]\n",
      " [    4.48847467]\n",
      " [-3440.69958873]]\n",
      "used_time:0.048 sec\n",
      "t0:0.18876497099489264, t1:-0.5134367926389374\n",
      "pitch:2.7892814508768957, yaw:-0.9919756829865966, roll:-3.03226751048926\n",
      "Y:159, X:-56, Z:-173\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.08789442]\n",
      " [-2.12399181]\n",
      " [-0.31353302]]\n",
      "Translation Vector:\n",
      " [[ -623.47712086]\n",
      " [    4.48847467]\n",
      " [-3440.69958873]]\n",
      "used_time:0.046 sec\n",
      "t0:0.18876497099489264, t1:-0.5134367926389374\n",
      "pitch:2.7892814508768957, yaw:-0.9919756829865966, roll:-3.03226751048926\n",
      "Y:159, X:-56, Z:-173\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.77855173]\n",
      " [-0.04604335]\n",
      " [ 0.94207242]]\n",
      "Translation Vector:\n",
      " [[ 615.6400693 ]\n",
      " [  -5.52752169]\n",
      " [3378.37713015]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1849439548919239, t1:-0.7746373800404147\n",
      "pitch:2.907230807855669, yaw:-0.6494624091097903, roll:0.04608027411665638\n",
      "Y:166, X:-37, Z:2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.19286194]\n",
      " [ 0.041639  ]\n",
      " [-1.09697513]]\n",
      "Translation Vector:\n",
      " [[ 610.71449049]\n",
      " [  -8.7178018 ]\n",
      " [3370.67699622]]\n",
      "used_time:0.057 sec\n",
      "t0:0.2120260225719076, t1:-0.764350149470219\n",
      "pitch:2.8710022742023242, yaw:-0.6547296709787601, roll:0.06630589304004278\n",
      "Y:164, X:-37, Z:3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[0.18133143]\n",
      " [4.06546838]\n",
      " [0.60136306]]\n",
      "Translation Vector:\n",
      " [[ -607.60402957]\n",
      " [   13.82818562]\n",
      " [-3434.90808921]]\n",
      "used_time:0.046 sec\n",
      "t0:0.18947579332542713, t1:-0.5301440744953299\n",
      "pitch:2.798336828569254, yaw:-0.9728013591500546, roll:-3.047941938339492\n",
      "Y:160, X:-55, Z:-174\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.08769851]\n",
      " [-2.17940904]\n",
      " [-0.36173897]]\n",
      "Translation Vector:\n",
      " [[ -602.67591725]\n",
      " [   27.94042067]\n",
      " [-3455.27427644]]\n",
      "used_time:0.046 sec\n",
      "t0:0.2258000477602581, t1:-0.5545729727352859\n",
      "pitch:2.7549289627299984, yaw:-0.9288200196860722, roll:-3.026503287015016\n",
      "Y:157, X:-53, Z:-173\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29724871]\n",
      " [ 0.05001253]\n",
      " [-1.00717116]]\n",
      "Translation Vector:\n",
      " [[ 599.40098335]\n",
      " [ -46.69036538]\n",
      " [3424.73805944]]\n",
      "used_time:0.046 sec\n",
      "t0:0.2801757571006072, t1:-0.7867481321805541\n",
      "pitch:2.799477270398284, yaw:-0.5823957191427476, roll:0.07312405519336337\n",
      "Y:160, X:-33, Z:4\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26703002]\n",
      " [-0.07270615]\n",
      " [-1.05693112]]\n",
      "Translation Vector:\n",
      " [[ 594.44381976]\n",
      " [ -58.35824432]\n",
      " [3322.29449836]]\n",
      "used_time:0.045 sec\n",
      "t0:0.28741975877998155, t1:-0.77203301475392\n",
      "pitch:2.7852004569727464, yaw:-0.6027156840884625, roll:0.1563480120814033\n",
      "Y:159, X:-34, Z:8\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "ERROR: found no face\n",
      "get_image_points failed\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.22070645]\n",
      " [-0.06447096]\n",
      " [-1.08799208]]\n",
      "Translation Vector:\n",
      " [[ 563.38758424]\n",
      " [ -49.12029911]\n",
      " [3120.75206846]]\n",
      "used_time:0.046 sec\n",
      "t0:0.2541021607276515, t1:-0.7653873901954285\n",
      "pitch:2.8210501725978734, yaw:-0.6326473931396664, roll:0.14575716134987868\n",
      "Y:161, X:-36, Z:8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.244378  ]\n",
      " [-0.10103967]\n",
      " [-1.08432347]]\n",
      "Translation Vector:\n",
      " [[ 561.26852789]\n",
      " [ -44.6851646 ]\n",
      " [3102.06985157]]\n",
      "used_time:0.047 sec\n",
      "t0:0.2809533354964682, t1:-0.7640166142034295\n",
      "pitch:2.7892091292238734, yaw:-0.6197271623573787, roll:0.17614994599645592\n",
      "Y:159, X:-35, Z:10\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.19924169]\n",
      " [-0.07276501]\n",
      " [-1.05009862]]\n",
      "Translation Vector:\n",
      " [[ 561.76691617]\n",
      " [ -40.53531955]\n",
      " [3119.23610908]]\n",
      "used_time:0.045 sec\n",
      "t0:0.22649572901394183, t1:-0.7825414132002892\n",
      "pitch:2.8598554717373834, yaw:-0.6186531521608437, roll:0.1360584503694592\n",
      "Y:163, X:-35, Z:7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26847404]\n",
      " [-0.10448584]\n",
      " [-1.02834777]]\n",
      "Translation Vector:\n",
      " [[ 554.23667164]\n",
      " [ -41.54464221]\n",
      " [3077.33403128]]\n",
      "used_time:0.048 sec\n",
      "t0:0.28729420678898926, t1:-0.7829455895631345\n",
      "pitch:2.7899067693452673, yaw:-0.5844938745194279, roll:0.17072506750910474\n",
      "Y:159, X:-33, Z:9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26847404]\n",
      " [-0.10448584]\n",
      " [-1.02834777]]\n",
      "Translation Vector:\n",
      " [[ 554.23667164]\n",
      " [ -41.54464221]\n",
      " [3077.33403128]]\n",
      "used_time:0.05 sec\n",
      "t0:0.28729420678898926, t1:-0.7829455895631345\n",
      "pitch:2.7899067693452673, yaw:-0.5844938745194279, roll:0.17072506750910474\n",
      "Y:159, X:-33, Z:9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.23139369]\n",
      " [-0.09502269]\n",
      " [-1.09676362]]\n",
      "Translation Vector:\n",
      " [[ 559.7446885 ]\n",
      " [ -40.82627003]\n",
      " [3093.36169174]]\n",
      "used_time:0.047 sec\n",
      "t0:0.2720236551806694, t1:-0.7605505468527991\n",
      "pitch:2.79810414631946, yaw:-0.6304982458410482, roll:0.1718095606456085\n",
      "Y:160, X:-36, Z:9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.21764605]\n",
      " [-0.08422849]\n",
      " [-1.07314614]]\n",
      "Translation Vector:\n",
      " [[ 561.48887455]\n",
      " [ -40.04898448]\n",
      " [3106.158375  ]]\n",
      "used_time:0.046 sec\n",
      "t0:0.2513093059529183, t1:-0.7716463381506844\n",
      "pitch:2.8267463954798924, yaw:-0.6240162506507656, roll:0.1546515928155004\n",
      "Y:161, X:-35, Z:8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26876394]\n",
      " [-0.12283882]\n",
      " [-1.03867825]]\n",
      "Translation Vector:\n",
      " [[ 555.80315207]\n",
      " [ -38.52361268]\n",
      " [3051.20537577]]\n",
      "used_time:0.047 sec\n",
      "t0:0.29395048433370957, t1:-0.7787713260359639\n",
      "pitch:2.78067212033035, yaw:-0.5873697989074536, roll:0.18536587406220364\n",
      "Y:159, X:-33, Z:10\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25494108]\n",
      " [-0.11888985]\n",
      " [-1.08381462]]\n",
      "Translation Vector:\n",
      " [[ 557.6050539 ]\n",
      " [ -37.3344031 ]\n",
      " [3073.23253674]]\n",
      "used_time:0.046 sec\n",
      "t0:0.29356098164727173, t1:-0.7627468802150839\n",
      "pitch:2.7741940771993643, yaw:-0.6141063479641931, roll:0.19070700735129703\n",
      "Y:158, X:-35, Z:10\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 0.01028281]\n",
      " [-2.12175281]\n",
      " [-0.33481954]]\n",
      "Translation Vector:\n",
      " [[ -560.97085535]\n",
      " [   35.41605201]\n",
      " [-3102.07169936]]\n",
      "used_time:0.054 sec\n",
      "t0:0.24199769701658133, t1:-0.5081552405328043\n",
      "pitch:2.69714294756221, yaw:-0.9729831753417639, roll:-2.894015695541686\n",
      "Y:154, X:-55, Z:-165\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25206115]\n",
      " [-0.12851693]\n",
      " [-1.11703251]]\n",
      "Translation Vector:\n",
      " [[ 557.57523515]\n",
      " [ -36.18916267]\n",
      " [3060.68867913]]\n",
      "used_time:0.049 sec\n",
      "t0:0.3024326192845091, t1:-0.7494440274044523\n",
      "pitch:2.7580360145231695, yaw:-0.6297653562205539, roll:0.20531431566775435\n",
      "Y:158, X:-36, Z:11\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25206115]\n",
      " [-0.12851693]\n",
      " [-1.11703251]]\n",
      "Translation Vector:\n",
      " [[ 557.57523515]\n",
      " [ -36.18916267]\n",
      " [3060.68867913]]\n",
      "used_time:0.046 sec\n",
      "t0:0.3024326192845091, t1:-0.7494440274044523\n",
      "pitch:2.7580360145231695, yaw:-0.6297653562205539, roll:0.20531431566775435\n",
      "Y:158, X:-36, Z:11\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.29574686]\n",
      " [47.40445105]\n",
      " [ 8.24631822]]\n",
      "Translation Vector:\n",
      " [[ -573.51723937]\n",
      " [   36.08117989]\n",
      " [-3202.38754239]]\n",
      "used_time:0.047 sec\n",
      "t0:0.2661549022975507, t1:-0.5004612738082803\n",
      "pitch:2.652814910562814, yaw:-0.9681395178879916, roll:-2.8683642780727823\n",
      "Y:151, X:-55, Z:-164\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[0.00486703]\n",
      " [4.01021368]\n",
      " [0.7086248 ]]\n",
      "Translation Vector:\n",
      " [[ -595.60843355]\n",
      " [   44.49829115]\n",
      " [-3392.3070692 ]]\n",
      "used_time:0.047 sec\n",
      "t0:0.2727338352858765, t1:-0.5488686098593987\n",
      "pitch:2.680426623673757, yaw:-0.9110769025042676, roll:-2.9150078497195255\n",
      "Y:153, X:-52, Z:-167\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-0.01601529]\n",
      " [-2.25165218]\n",
      " [-0.43031013]]\n",
      "Translation Vector:\n",
      " [[ -609.3841062 ]\n",
      " [   50.49283248]\n",
      " [-3595.13132829]]\n",
      "used_time:0.046 sec\n",
      "t0:0.3009193119133683, t1:-0.6021220045852484\n",
      "pitch:2.6781333170184265, yaw:-0.8323638561221858, roll:-2.947972633607065\n",
      "Y:153, X:-47, Z:-168\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.35403143]\n",
      " [-0.07219917]\n",
      " [-0.91783217]]\n",
      "Translation Vector:\n",
      " [[ 578.99982421]\n",
      " [ -39.93284535]\n",
      " [3531.53747328]]\n",
      "used_time:0.045 sec\n",
      "t0:0.32905961851443427, t1:-0.8085454102833269\n",
      "pitch:2.7550858817097397, yaw:-0.5095974427629327, roll:0.14489910616477808\n",
      "Y:157, X:-29, Z:8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.38456921]\n",
      " [-0.08879718]\n",
      " [-0.70860811]]\n",
      "Translation Vector:\n",
      " [[ 537.2066431 ]\n",
      " [ -24.03160188]\n",
      " [3528.53813748]]\n",
      "used_time:0.053 sec\n",
      "t0:0.3157208270762704, t1:-0.8681863126794844\n",
      "pitch:2.7928046474844326, yaw:-0.3928776316475708, roll:0.12255398404874454\n",
      "Y:160, X:-22, Z:7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.36254144]\n",
      " [-0.07391887]\n",
      " [-0.63766372]]\n",
      "Translation Vector:\n",
      " [[ 503.04368525]\n",
      " [  -7.14677381]\n",
      " [3538.13664034]]\n",
      "used_time:0.058 sec\n",
      "t0:0.28092036907201084, t1:-0.8925629477417585\n",
      "pitch:2.8366733648490428, yaw:-0.360481995613256, roll:0.09994083867687788\n",
      "Y:162, X:-20, Z:5\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.36254144]\n",
      " [-0.07391887]\n",
      " [-0.63766372]]\n",
      "Translation Vector:\n",
      " [[ 503.04368525]\n",
      " [  -7.14677381]\n",
      " [3538.13664034]]\n",
      "used_time:0.045 sec\n",
      "t0:0.28092036907201084, t1:-0.8925629477417585\n",
      "pitch:2.8366733648490428, yaw:-0.360481995613256, roll:0.09994083867687788\n",
      "Y:162, X:-20, Z:5\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.36680455]\n",
      " [-0.02543716]\n",
      " [-0.49790143]]\n",
      "Translation Vector:\n",
      " [[ 450.62761676]\n",
      " [   4.34385012]\n",
      " [3465.71149968]]\n",
      "used_time:0.047 sec\n",
      "t0:0.25829576525259523, t1:-0.9238217734110981\n",
      "pitch:2.8689597305750936, yaw:-0.2864553142679634, roll:0.05466827888000373\n",
      "Y:164, X:-16, Z:3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.36000308]\n",
      " [ 0.0140735 ]\n",
      " [-0.34559268]]\n",
      "Translation Vector:\n",
      " [[ 415.10658858]\n",
      " [  14.67712406]\n",
      " [3508.03496163]]\n",
      "used_time:0.048 sec\n",
      "t0:0.23190604155304217, t1:-0.951596381335502\n",
      "pitch:2.9025501476591677, yaw:-0.20309587825753747, roll:0.016096465657995124\n",
      "Y:166, X:-11, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Rotation Vector:\n",
      " [[-3.34943041]\n",
      " [ 0.03533007]\n",
      " [-0.22406603]]\n",
      "Translation Vector:\n",
      " [[ 379.24303362]\n",
      " [  24.64087102]\n",
      " [3464.65985176]]\n",
      "used_time:0.047 sec\n",
      "t0:0.21196832181890046, t1:-0.9680610312478077\n",
      "pitch:2.926032898144324, yaw:-0.1342960742982509, roll:-0.00654303834352674\n",
      "Y:167, X:-7, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31988795]\n",
      " [ 0.07059313]\n",
      " [-0.11762269]]\n",
      "Translation Vector:\n",
      " [[ 363.10802463]\n",
      " [  31.30605902]\n",
      " [3519.89242692]]\n",
      "used_time:0.05 sec\n",
      "t0:0.1784940744300436, t1:-0.9811553173247658\n",
      "pitch:2.9616383273700593, yaw:-0.07405488887098441, roll:-0.03583668845956361\n",
      "Y:169, X:-4, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31988795]\n",
      " [ 0.07059313]\n",
      " [-0.11762269]]\n",
      "Translation Vector:\n",
      " [[ 363.10802463]\n",
      " [  31.30605902]\n",
      " [3519.89242692]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1784940744300436, t1:-0.9811553173247658\n",
      "pitch:2.9616383273700593, yaw:-0.07405488887098441, roll:-0.03583668845956361\n",
      "Y:169, X:-4, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31277415]\n",
      " [ 0.07634349]\n",
      " [-0.11795346]]\n",
      "Translation Vector:\n",
      " [[ 351.70335553]\n",
      " [  34.87581658]\n",
      " [3490.45280302]]\n",
      "used_time:0.045 sec\n",
      "t0:0.171499261299473, t1:-0.9823606611344622\n",
      "pitch:2.9687557834634655, yaw:-0.07460464737798303, roll:-0.03961591757278888\n",
      "Y:170, X:-4, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30686963]\n",
      " [ 0.09301436]\n",
      " [-0.10331869]]\n",
      "Translation Vector:\n",
      " [[ 349.55159226]\n",
      " [  36.45646918]\n",
      " [3491.94631712]]\n",
      "used_time:0.045 sec\n",
      "t0:0.16551603222823244, t1:-0.983952921665358\n",
      "pitch:2.9749374820366, yaw:-0.0666909369264233, roll:-0.050668260335078256\n",
      "Y:170, X:-3, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.33045548]\n",
      " [ 0.09842425]\n",
      " [-0.17431635]]\n",
      "Translation Vector:\n",
      " [[ 353.02841702]\n",
      " [  35.31010821]\n",
      " [3481.22403649]]\n",
      "used_time:0.047 sec\n",
      "t0:0.19024041212809747, t1:-0.9756645680492793\n",
      "pitch:2.9490233761113442, yaw:-0.10924577473479298, roll:-0.048526655511975395\n",
      "Y:168, X:-6, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31675782]\n",
      " [ 0.09523952]\n",
      " [-0.14578261]]\n",
      "Translation Vector:\n",
      " [[ 349.55720944]\n",
      " [  39.84402677]\n",
      " [3459.05545307]]\n",
      "used_time:0.048 sec\n",
      "t0:0.17602423148767624, t1:-0.9800692811261167\n",
      "pitch:2.9638834442423354, yaw:-0.0922157871738117, roll:-0.049192300357711036\n",
      "Y:169, X:-5, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.96104434]\n",
      " [-0.08768121]\n",
      " [ 0.15186858]]\n",
      "Translation Vector:\n",
      " [[ 349.36310046]\n",
      " [  44.33382667]\n",
      " [3442.90282597]]\n",
      "used_time:0.052 sec\n",
      "t0:0.1711538998474257, t1:-0.9794612769822357\n",
      "pitch:2.968596462393827, yaw:-0.10679533433163126, roll:-0.04993641811327792\n",
      "Y:170, X:-6, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.97038883]\n",
      " [-0.05839619]\n",
      " [ 0.15672595]]\n",
      "Translation Vector:\n",
      " [[ 350.79708416]\n",
      " [  53.26439343]\n",
      " [3489.81118811]]\n",
      "used_time:0.046 sec\n",
      "t0:0.16341486014760218, t1:-0.9806592057372596\n",
      "pitch:2.976472094985317, yaw:-0.10792711820429132, roll:-0.030374405659529518\n",
      "Y:170, X:-6, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.97556736]\n",
      " [-0.04074325]\n",
      " [ 0.13619278]]\n",
      "Translation Vector:\n",
      " [[ 348.23934369]\n",
      " [  62.76761123]\n",
      " [3508.74502452]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1604887408833966, t1:-0.9826518922646275\n",
      "pitch:2.979699933009751, yaw:-0.09307853239616075, roll:-0.019827198216905595\n",
      "Y:170, X:-5, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.97556736]\n",
      " [-0.04074325]\n",
      " [ 0.13619278]]\n",
      "Translation Vector:\n",
      " [[ 348.23934369]\n",
      " [  62.76761123]\n",
      " [3508.74502452]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1604887408833966, t1:-0.9826518922646275\n",
      "pitch:2.979699933009751, yaw:-0.09307853239616075, roll:-0.019827198216905595\n",
      "Y:170, X:-5, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 2.99557629]\n",
      " [-0.02927478]\n",
      " [ 0.08046439]]\n",
      "Translation Vector:\n",
      " [[ 335.86215331]\n",
      " [  62.94812499]\n",
      " [3489.25461302]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1437067466592469, t1:-0.9881014980238589\n",
      "pitch:2.9971680301466685, yaw:-0.054834414386958914, roll:-0.01557711424595847\n",
      "Y:171, X:-3, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 3.02473653]\n",
      " [-0.00749817]\n",
      " [ 0.07302535]]\n",
      "Translation Vector:\n",
      " [[ 321.81393907]\n",
      " [  64.69640766]\n",
      " [3431.02826228]]\n",
      "used_time:0.045 sec\n",
      "t0:0.11555241384195612, t1:-0.992122397638026\n",
      "pitch:3.0256451382168916, yaw:-0.048400583394960256, roll:-0.0021482294687964754\n",
      "Y:173, X:-2, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 3.02590192]\n",
      " [-0.01943931]\n",
      " [ 0.04200686]]\n",
      "Translation Vector:\n",
      " [[ 315.14066237]\n",
      " [  65.67927703]\n",
      " [3456.26736972]]\n",
      "used_time:0.084 sec\n",
      "t0:0.1148899903131306, t1:-0.9929720161437043\n",
      "pitch:3.0264017099132716, yaw:-0.028409195435942263, roll:-0.01121026735938432\n",
      "Y:173, X:-1, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 3.02590192]\n",
      " [-0.01943931]\n",
      " [ 0.04200686]]\n",
      "Translation Vector:\n",
      " [[ 315.14066237]\n",
      " [  65.67927703]\n",
      " [3456.26736972]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1148899903131306, t1:-0.9929720161437043\n",
      "pitch:3.0264017099132716, yaw:-0.028409195435942263, roll:-0.01121026735938432\n",
      "Y:173, X:-1, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[ 3.02243964]\n",
      " [-0.02316213]\n",
      " [ 0.0407503 ]]\n",
      "Translation Vector:\n",
      " [[ 308.77346127]\n",
      " [  66.00416542]\n",
      " [3449.55023675]]\n",
      "used_time:0.045 sec\n",
      "t0:0.11829028767922936, t1:-0.9925906186160913\n",
      "pitch:3.022978783421174, yaw:-0.027775349581264208, roll:-0.013677168278340378\n",
      "Y:173, X:-1, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25925760e+00]\n",
      " [ 2.77607236e-02]\n",
      " [ 1.92609338e-03]]\n",
      "Translation Vector:\n",
      " [[ 301.02675056]\n",
      " [  66.28381106]\n",
      " [3479.43541269]]\n",
      "used_time:0.079 sec\n",
      "t0:0.11751733976383126, t1:-0.9930708149829162\n",
      "pitch:3.0238031249002035, yaw:0.00017687283132233596, roll:-0.017045015158420128\n",
      "Y:173, X:0, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25925760e+00]\n",
      " [ 2.77607236e-02]\n",
      " [ 1.92609338e-03]]\n",
      "Translation Vector:\n",
      " [[ 301.02675056]\n",
      " [  66.28381106]\n",
      " [3479.43541269]]\n",
      "used_time:0.045 sec\n",
      "t0:0.11751733976383126, t1:-0.9930708149829162\n",
      "pitch:3.0238031249002035, yaw:0.00017687283132233596, roll:-0.017045015158420128\n",
      "Y:173, X:0, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25229483]\n",
      " [ 0.01591809]\n",
      " [-0.10130184]]\n",
      "Translation Vector:\n",
      " [[ 296.52808885]\n",
      " [  68.192868  ]\n",
      " [3466.63294942]]\n",
      "used_time:0.062 sec\n",
      "t0:0.1117230738908086, t1:-0.9917665809372209\n",
      "pitch:3.0294150022593884, yaw:-0.06262690087802585, roll:-0.006271254355317286\n",
      "Y:173, X:-3, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25229483]\n",
      " [ 0.01591809]\n",
      " [-0.10130184]]\n",
      "Translation Vector:\n",
      " [[ 296.52808885]\n",
      " [  68.192868  ]\n",
      " [3466.63294942]]\n",
      "used_time:0.048 sec\n",
      "t0:0.1117230738908086, t1:-0.9917665809372209\n",
      "pitch:3.0294150022593884, yaw:-0.06262690087802585, roll:-0.006271254355317286\n",
      "Y:173, X:-3, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25487026]\n",
      " [ 0.0218046 ]\n",
      " [-0.12563685]]\n",
      "Translation Vector:\n",
      " [[ 292.82142231]\n",
      " [  67.67420803]\n",
      " [3462.51473397]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1149128053845867, t1:-0.9903402800145558\n",
      "pitch:3.0260755805167867, yaw:-0.07767432494381654, roll:-0.008904332361058248\n",
      "Y:173, X:-4, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26104464]\n",
      " [ 0.0383997 ]\n",
      " [-0.09346392]]\n",
      "Translation Vector:\n",
      " [[ 284.16829831]\n",
      " [  65.89766472]\n",
      " [3479.4010874 ]]\n",
      "used_time:0.1 sec\n",
      "t0:0.11999212627748845, t1:-0.9910510696627404\n",
      "pitch:3.0211035083798388, yaw:-0.05851129905782111, roll:-0.02001920198269982\n",
      "Y:173, X:-3, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26104464]\n",
      " [ 0.0383997 ]\n",
      " [-0.09346392]]\n",
      "Translation Vector:\n",
      " [[ 284.16829831]\n",
      " [  65.89766472]\n",
      " [3479.4010874 ]]\n",
      "used_time:0.048 sec\n",
      "t0:0.11999212627748845, t1:-0.9910510696627404\n",
      "pitch:3.0211035083798388, yaw:-0.05851129905782111, roll:-0.02001920198269982\n",
      "Y:173, X:-3, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28192462]\n",
      " [ 0.04533991]\n",
      " [-0.08769628]]\n",
      "Translation Vector:\n",
      " [[ 282.42495731]\n",
      " [  64.65934261]\n",
      " [3502.92174124]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1405437589716321, t1:-0.9885413144855502\n",
      "pitch:3.000366247381508, yaw:-0.055105297014078826, roll:-0.023729693676042957\n",
      "Y:171, X:-3, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26270371]\n",
      " [ 0.03974922]\n",
      " [-0.15877665]]\n",
      "Translation Vector:\n",
      " [[ 287.08661591]\n",
      " [  63.04276051]\n",
      " [3490.99717239]]\n",
      "used_time:0.048 sec\n",
      "t0:0.12355204532943108, t1:-0.9874649559167448\n",
      "pitch:3.0171190781510107, yaw:-0.09838211524739089, roll:-0.01822877643489747\n",
      "Y:172, X:-5, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28327743]\n",
      " [ 0.03483108]\n",
      " [-0.22617822]]\n",
      "Translation Vector:\n",
      " [[ 293.71035447]\n",
      " [  56.4284194 ]\n",
      " [3478.62326681]]\n",
      "used_time:0.048 sec\n",
      "t0:0.14728514037011098, t1:-0.9794308412343129\n",
      "pitch:2.9923327554733743, yaw:-0.13836245757207496, roll:-0.010854828540539653\n",
      "Y:171, X:-7, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25535409]\n",
      " [ 0.02275428]\n",
      " [-0.33575154]]\n",
      "Translation Vector:\n",
      " [[ 298.23524089]\n",
      " [  58.86831286]\n",
      " [3468.57702414]]\n",
      "used_time:0.048 sec\n",
      "t0:0.12862040817256817, t1:-0.9704577793054554\n",
      "pitch:3.009824795479439, yaw:-0.20557349137470313, roll:-0.0003679939359825929\n",
      "Y:172, X:-11, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24046147]\n",
      " [ 0.04639823]\n",
      " [-0.48587037]]\n",
      "Translation Vector:\n",
      " [[ 299.70615552]\n",
      " [  56.43560904]\n",
      " [3470.61105475]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1293215484644595, t1:-0.9470801920131884\n",
      "pitch:3.005884316766506, yaw:-0.2981938301492129, roll:-0.008219245560906625\n",
      "Y:172, X:-17, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26447561]\n",
      " [ 0.0423473 ]\n",
      " [-0.4810575 ]]\n",
      "Translation Vector:\n",
      " [[ 283.50951286]\n",
      " [  51.9789015 ]\n",
      " [3486.65725999]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1523311675768762, t1:-0.9452449210452756\n",
      "pitch:2.9818111954666997, yaw:-0.2927955902100297, roll:-0.0023334990410474855\n",
      "Y:170, X:-16, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25061954]\n",
      " [ 0.05525262]\n",
      " [-0.43880216]]\n",
      "Translation Vector:\n",
      " [[ 253.01806427]\n",
      " [  54.18960286]\n",
      " [3498.25927148]]\n",
      "used_time:0.049 sec\n",
      "t0:0.13278006395298664, t1:-0.954748540555195\n",
      "pitch:3.0034056786833285, yaw:-0.26937503795820533, roll:-0.01523712278832921\n",
      "Y:172, X:-15, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.25061954]\n",
      " [ 0.05525262]\n",
      " [-0.43880216]]\n",
      "Translation Vector:\n",
      " [[ 253.01806427]\n",
      " [  54.18960286]\n",
      " [3498.25927148]]\n",
      "used_time:0.046 sec\n",
      "t0:0.13278006395298664, t1:-0.954748540555195\n",
      "pitch:3.0034056786833285, yaw:-0.26937503795820533, roll:-0.01523712278832921\n",
      "Y:172, X:-15, Z:0\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27744435]\n",
      " [ 0.07801827]\n",
      " [-0.412162  ]]\n",
      "Translation Vector:\n",
      " [[ 226.52664802]\n",
      " [  54.91028855]\n",
      " [3508.40484206]]\n",
      "used_time:0.047 sec\n",
      "t0:0.15471038457187694, t1:-0.9558970474110298\n",
      "pitch:2.981135674382079, yaw:-0.2523196398106558, roll:-0.027205839825148976\n",
      "Y:170, X:-14, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26054917]\n",
      " [ 0.08082623]\n",
      " [-0.39748856]]\n",
      "Translation Vector:\n",
      " [[ 195.17411947]\n",
      " [  60.27065362]\n",
      " [3529.83703502]]\n",
      "used_time:0.049 sec\n",
      "t0:0.13657252706456094, t1:-0.9605182832649892\n",
      "pitch:3.0003531006368642, yaw:-0.24482783674632347, roll:-0.03216306399765176\n",
      "Y:171, X:-14, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28406818]\n",
      " [ 0.10079319]\n",
      " [-0.26723846]]\n",
      "Translation Vector:\n",
      " [[ 163.66086958]\n",
      " [  61.50317284]\n",
      " [3565.30521847]]\n",
      "used_time:0.047 sec\n",
      "t0:0.14874575815850338, t1:-0.9749658294358556\n",
      "pitch:2.9901950007363745, yaw:-0.16603838924769282, roll:-0.04874204787338085\n",
      "Y:171, X:-9, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30837181]\n",
      " [ 0.11048736]\n",
      " [-0.21252475]]\n",
      "Translation Vector:\n",
      " [[ 146.05134986]\n",
      " [  63.83219849]\n",
      " [3578.26424525]]\n",
      "used_time:0.045 sec\n",
      "t0:0.16984911201514644, t1:-0.9765029168573753\n",
      "pitch:2.9693794565207225, yaw:-0.13303190152995123, roll:-0.05526761799512256\n",
      "Y:170, X:-7, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29425773]\n",
      " [ 0.11664813]\n",
      " [-0.22326516]]\n",
      "Translation Vector:\n",
      " [[ 135.18520437]\n",
      " [  67.94805505]\n",
      " [3578.14922561]]\n",
      "used_time:0.053 sec\n",
      "t0:0.15635995304446754, t1:-0.9777879017708211\n",
      "pitch:2.9830232617333263, yaw:-0.1400365547286109, roll:-0.05964531016178574\n",
      "Y:170, X:-8, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29425773]\n",
      " [ 0.11664813]\n",
      " [-0.22326516]]\n",
      "Translation Vector:\n",
      " [[ 135.18520437]\n",
      " [  67.94805505]\n",
      " [3578.14922561]]\n",
      "used_time:0.046 sec\n",
      "t0:0.15635995304446754, t1:-0.9777879017708211\n",
      "pitch:2.9830232617333263, yaw:-0.1400365547286109, roll:-0.05964531016178574\n",
      "Y:170, X:-8, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.3100137 ]\n",
      " [ 0.13831669]\n",
      " [-0.19593464]]\n",
      "Translation Vector:\n",
      " [[ 127.45964117]\n",
      " [  66.20060556]\n",
      " [3594.88318989]]\n",
      "used_time:0.047 sec\n",
      "t0:0.17083094515741976, t1:-0.9774421026266726\n",
      "pitch:2.9685667970767176, yaw:-0.12451377479977636, roll:-0.07271322268587038\n",
      "Y:170, X:-7, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.32324508]\n",
      " [ 0.13061602]\n",
      " [-0.18678019]]\n",
      "Translation Vector:\n",
      " [[ 124.73707696]\n",
      " [  62.79782377]\n",
      " [3612.70149852]]\n",
      "used_time:0.05 sec\n",
      "t0:0.18352821915226875, t1:-0.9758742832878116\n",
      "pitch:2.9556985304541596, yaw:-0.1185431432805447, roll:-0.06750415520613214\n",
      "Y:169, X:-6, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30877778]\n",
      " [ 0.14005164]\n",
      " [-0.15364284]]\n",
      "Translation Vector:\n",
      " [[ 123.5139614 ]\n",
      " [  67.29438433]\n",
      " [3639.65980081]]\n",
      "used_time:0.046 sec\n",
      "t0:0.16861142875515078, t1:-0.9806872125765027\n",
      "pitch:2.9713254486162444, yaw:-0.09927290195786641, roll:-0.07612525110106877\n",
      "Y:170, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31034074]\n",
      " [ 0.13329587]\n",
      " [-0.17235724]]\n",
      "Translation Vector:\n",
      " [[ 123.97589226]\n",
      " [  68.00051698]\n",
      " [3613.07278568]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1704845549326385, t1:-0.9792107555786245\n",
      "pitch:2.969216449442875, yaw:-0.11013755643302273, roll:-0.07096385600649022\n",
      "Y:170, X:-6, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30972632]\n",
      " [ 0.14167294]\n",
      " [-0.15793901]]\n",
      "Translation Vector:\n",
      " [[ 123.92991598]\n",
      " [  69.22929469]\n",
      " [3616.83245287]]\n",
      "used_time:0.055 sec\n",
      "t0:0.16964247910061225, t1:-0.9802381199857673\n",
      "pitch:2.9702275115492993, yaw:-0.1019342717142232, roll:-0.07679487315025155\n",
      "Y:170, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30972632]\n",
      " [ 0.14167294]\n",
      " [-0.15793901]]\n",
      "Translation Vector:\n",
      " [[ 123.92991598]\n",
      " [  69.22929469]\n",
      " [3616.83245287]]\n",
      "used_time:0.046 sec\n",
      "t0:0.16964247910061225, t1:-0.9802381199857673\n",
      "pitch:2.9702275115492993, yaw:-0.1019342717142232, roll:-0.07679487315025155\n",
      "Y:170, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30297463]\n",
      " [ 0.1337163 ]\n",
      " [-0.1878913 ]]\n",
      "Translation Vector:\n",
      " [[ 128.46972942]\n",
      " [  70.15391671]\n",
      " [3603.06842142]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1636534356521797, t1:-0.9792878114650954\n",
      "pitch:2.976008037031002, yaw:-0.11950224387517891, roll:-0.07099473397324578\n",
      "Y:170, X:-6, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31051953]\n",
      " [ 0.13309406]\n",
      " [-0.17011875]]\n",
      "Translation Vector:\n",
      " [[ 129.63144904]\n",
      " [  68.00147433]\n",
      " [3613.1032061 ]]\n",
      "used_time:0.049 sec\n",
      "t0:0.1706050540191414, t1:-0.9793396060059627\n",
      "pitch:2.9691192625630793, yaw:-0.10878631754674342, roll:-0.07094955562736985\n",
      "Y:170, X:-6, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30534759]\n",
      " [ 0.14013538]\n",
      " [-0.16246823]]\n",
      "Translation Vector:\n",
      " [[ 129.50418912]\n",
      " [  69.95516724]\n",
      " [3599.70876644]]\n",
      "used_time:0.049 sec\n",
      "t0:0.16540624461000758, t1:-0.9806873847455413\n",
      "pitch:2.974501665439583, yaw:-0.10456008672653029, roll:-0.07597854283897167\n",
      "Y:170, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28211342]\n",
      " [ 0.11904303]\n",
      " [-0.21462562]]\n",
      "Translation Vector:\n",
      " [[ 134.1978945 ]\n",
      " [  70.58090119]\n",
      " [3589.86268496]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1440199133870211, t1:-0.9803609541854874\n",
      "pitch:2.9957309790957036, yaw:-0.13513532184947913, roll:-0.06262067476051406\n",
      "Y:171, X:-7, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29047002]\n",
      " [ 0.11226367]\n",
      " [-0.20689143]]\n",
      "Translation Vector:\n",
      " [[ 136.04030806]\n",
      " [  69.17784045]\n",
      " [3597.03400694]]\n",
      "used_time:0.045 sec\n",
      "t0:0.15199679966501264, t1:-0.9798380800629796\n",
      "pitch:2.987694868969432, yaw:-0.1300361659148144, roll:-0.05816918686961009\n",
      "Y:171, X:-7, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31171146]\n",
      " [ 0.14719073]\n",
      " [-0.18186017]]\n",
      "Translation Vector:\n",
      " [[ 137.42402719]\n",
      " [  68.61885343]\n",
      " [3610.9615645 ]]\n",
      "used_time:0.048 sec\n",
      "t0:0.17216875387606326, t1:-0.9781801061927675\n",
      "pitch:2.9673678881190924, yaw:-0.1165460765263483, roll:-0.07864275742351362\n",
      "Y:170, X:-6, Z:-4\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27146731]\n",
      " [ 0.12545817]\n",
      " [-0.26354755]]\n",
      "Translation Vector:\n",
      " [[ 141.25964582]\n",
      " [  73.54626912]\n",
      " [3602.72896755]]\n",
      "used_time:0.063 sec\n",
      "t0:0.13572241056948348, t1:-0.9769998831228415\n",
      "pitch:3.003558530969732, yaw:-0.16522151685234931, roll:-0.06521367160456007\n",
      "Y:172, X:-9, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27146731]\n",
      " [ 0.12545817]\n",
      " [-0.26354755]]\n",
      "Translation Vector:\n",
      " [[ 141.25964582]\n",
      " [  73.54626912]\n",
      " [3602.72896755]]\n",
      "used_time:0.047 sec\n",
      "t0:0.13572241056948348, t1:-0.9769998831228415\n",
      "pitch:3.003558530969732, yaw:-0.16522151685234931, roll:-0.06521367160456007\n",
      "Y:172, X:-9, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.3007877 ]\n",
      " [ 0.13162915]\n",
      " [-0.19737582]]\n",
      "Translation Vector:\n",
      " [[ 135.67527872]\n",
      " [  70.11338438]\n",
      " [3598.1623705 ]]\n",
      "used_time:0.049 sec\n",
      "t0:0.16178389757903983, t1:-0.9789050391767085\n",
      "pitch:2.977802941818027, yaw:-0.12510951317798114, roll:-0.06943184988721213\n",
      "Y:170, X:-7, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28258625]\n",
      " [ 0.13524061]\n",
      " [-0.22023805]]\n",
      "Translation Vector:\n",
      " [[ 135.09047695]\n",
      " [  72.6140112 ]\n",
      " [3623.29273049]]\n",
      "used_time:0.047 sec\n",
      "t0:0.14464956013572258, t1:-0.9797018420600594\n",
      "pitch:2.9950051962594526, yaw:-0.13923272312776466, roll:-0.07211258628810976\n",
      "Y:171, X:-7, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29099289]\n",
      " [ 0.13511635]\n",
      " [-0.17075964]]\n",
      "Translation Vector:\n",
      " [[ 130.44669255]\n",
      " [  73.36582608]\n",
      " [3603.12793663]]\n",
      "used_time:0.047 sec\n",
      "t0:0.15140060930059127, t1:-0.9824356105703722\n",
      "pitch:2.9886881178181732, yaw:-0.10929600546681574, roll:-0.07368618931536106\n",
      "Y:171, X:-6, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.30731383]\n",
      " [ 0.14423056]\n",
      " [-0.10868089]]\n",
      "Translation Vector:\n",
      " [[ 125.36410982]\n",
      " [  70.35289737]\n",
      " [3632.54401751]]\n",
      "used_time:0.045 sec\n",
      "t0:0.16673163861274992, t1:-0.9833373120847808\n",
      "pitch:2.9736331698633127, yaw:-0.07250861090242315, roll:-0.08105766190327925\n",
      "Y:170, X:-4, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.32753249]\n",
      " [ 0.14755902]\n",
      " [-0.14347638]]\n",
      "Translation Vector:\n",
      " [[ 124.94786026]\n",
      " [  71.02928045]\n",
      " [3656.59388136]]\n",
      "used_time:0.051 sec\n",
      "t0:0.18697677574355026, t1:-0.9778975031780057\n",
      "pitch:2.9526700372409866, yaw:-0.09371144757642978, roll:-0.07974671400004744\n",
      "Y:169, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.32753249]\n",
      " [ 0.14755902]\n",
      " [-0.14347638]]\n",
      "Translation Vector:\n",
      " [[ 124.94786026]\n",
      " [  71.02928045]\n",
      " [3656.59388136]]\n",
      "used_time:0.045 sec\n",
      "t0:0.18697677574355026, t1:-0.9778975031780057\n",
      "pitch:2.9526700372409866, yaw:-0.09371144757642978, roll:-0.07974671400004744\n",
      "Y:169, X:-5, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31636929]\n",
      " [ 0.13914847]\n",
      " [-0.17856951]]\n",
      "Translation Vector:\n",
      " [[ 125.07699811]\n",
      " [  76.7514866 ]\n",
      " [3706.89503757]]\n",
      "used_time:0.046 sec\n",
      "t0:0.17660157942763643, t1:-0.977670338445962\n",
      "pitch:2.9628846149324204, yaw:-0.11414499064404747, roll:-0.07362938060306608\n",
      "Y:169, X:-6, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.32273493]\n",
      " [ 0.14261725]\n",
      " [-0.2475312 ]]\n",
      "Translation Vector:\n",
      " [[ 121.24357176]\n",
      " [  75.3698995 ]\n",
      " [3651.87798125]]\n",
      "used_time:0.048 sec\n",
      "t0:0.18520168232747622, t1:-0.9704411361745815\n",
      "pitch:2.9530174191705476, yaw:-0.1553638544959183, roll:-0.07106882313828662\n",
      "Y:169, X:-8, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.3018433 ]\n",
      " [ 0.1438584 ]\n",
      " [-0.30100424]]\n",
      "Translation Vector:\n",
      " [[ 117.11420969]\n",
      " [  91.43556807]\n",
      " [3630.03760489]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1674439164931753, t1:-0.9680408447942794\n",
      "pitch:2.9703154450966838, yaw:-0.18780900421287272, roll:-0.07091281796831796\n",
      "Y:170, X:-10, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29729591]\n",
      " [ 0.16695024]\n",
      " [-0.27953813]]\n",
      "Translation Vector:\n",
      " [[  96.62442238]\n",
      " [ 107.14717533]\n",
      " [3624.05050129]]\n",
      "used_time:0.046 sec\n",
      "t0:0.16163039577799357, t1:-0.9711577814155525\n",
      "pitch:2.976673647882494, yaw:-0.17620494127473443, roll:-0.08657820727609963\n",
      "Y:170, X:-10, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27772324]\n",
      " [ 0.20237584]\n",
      " [-0.35430704]]\n",
      "Translation Vector:\n",
      " [[  80.77478018]\n",
      " [ 106.34831877]\n",
      " [3633.28479515]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1464396457954665, t1:-0.9641353984987906\n",
      "pitch:2.9908577293306946, yaw:-0.2232044785484386, roll:-0.10640485933665488\n",
      "Y:171, X:-12, Z:-6\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26269769]\n",
      " [ 0.24103498]\n",
      " [-0.49964984]]\n",
      "Translation Vector:\n",
      " [[  72.30113206]\n",
      " [  95.82375126]\n",
      " [3643.58594391]]\n",
      "used_time:0.068 sec\n",
      "t0:0.14294122865149841, t1:-0.9406674891032631\n",
      "pitch:2.9907890936311023, yaw:-0.3128314846287178, roll:-0.12365767436202313\n",
      "Y:171, X:-17, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2502894 ]\n",
      " [ 0.269073  ]\n",
      " [-0.58437585]]\n",
      "Translation Vector:\n",
      " [[  65.12168324]\n",
      " [  90.27413356]\n",
      " [3624.68279667]]\n",
      "used_time:0.046 sec\n",
      "t0:0.13922473564228033, t1:-0.9235310396971885\n",
      "pitch:2.991966716244678, yaw:-0.365440787994086, roll:-0.13749394665279308\n",
      "Y:171, X:-20, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2502894 ]\n",
      " [ 0.269073  ]\n",
      " [-0.58437585]]\n",
      "Translation Vector:\n",
      " [[  65.12168324]\n",
      " [  90.27413356]\n",
      " [3624.68279667]]\n",
      "used_time:0.046 sec\n",
      "t0:0.13922473564228033, t1:-0.9235310396971885\n",
      "pitch:2.991966716244678, yaw:-0.365440787994086, roll:-0.13749394665279308\n",
      "Y:171, X:-20, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.23236115]\n",
      " [ 0.2727749 ]\n",
      " [-0.67500264]]\n",
      "Translation Vector:\n",
      " [[  63.36612574]\n",
      " [  88.5096145 ]\n",
      " [3638.43664732]]\n",
      "used_time:0.046 sec\n",
      "t0:0.13342656346865708, t1:-0.902892848474177\n",
      "pitch:2.9948777474527626, yaw:-0.4209570468282585, roll:-0.1369801998289329\n",
      "Y:171, X:-24, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28575283]\n",
      " [ 0.30497744]\n",
      " [-0.68773447]]\n",
      "Translation Vector:\n",
      " [[  50.50558293]\n",
      " [  83.32571283]\n",
      " [3645.68038244]]\n",
      "used_time:0.047 sec\n",
      "t0:0.18501902172601964, t1:-0.8916846665520222\n",
      "pitch:2.937002029607661, yaw:-0.4258751523848801, roll:-0.14072259775302098\n",
      "Y:168, X:-24, Z:-8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.23904096]\n",
      " [ 0.31884502]\n",
      " [-0.82552759]]\n",
      "Translation Vector:\n",
      " [[  46.01047597]\n",
      " [  82.2330324 ]\n",
      " [3654.72980543]]\n",
      "used_time:0.048 sec\n",
      "t0:0.16075451525404513, t1:-0.857242623644624\n",
      "pitch:2.956220448797569, yaw:-0.5111446445349491, roll:-0.14767914287588263\n",
      "Y:169, X:-29, Z:-8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.21416047]\n",
      " [ 0.32949941]\n",
      " [-0.95106657]]\n",
      "Translation Vector:\n",
      " [[  36.94968362]\n",
      " [  82.41671526]\n",
      " [3672.16031037]]\n",
      "used_time:0.058 sec\n",
      "t0:0.1597444874026854, t1:-0.8170252529777711\n",
      "pitch:2.9485088157239328, yaw:-0.5871997222477485, roll:-0.14577430997835553\n",
      "Y:168, X:-33, Z:-8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.21416047]\n",
      " [ 0.32949941]\n",
      " [-0.95106657]]\n",
      "Translation Vector:\n",
      " [[  36.94968362]\n",
      " [  82.41671526]\n",
      " [3672.16031037]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1597444874026854, t1:-0.8170252529777711\n",
      "pitch:2.9485088157239328, yaw:-0.5871997222477485, roll:-0.14577430997835553\n",
      "Y:168, X:-33, Z:-8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.18847279]\n",
      " [ 0.35571418]\n",
      " [-1.04350048]]\n",
      "Translation Vector:\n",
      " [[  29.59798186]\n",
      " [  83.30985817]\n",
      " [3651.76129291]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1530405812244124, t1:-0.7844117419640155\n",
      "pitch:2.948910768721681, yaw:-0.6448305943794989, roll:-0.15765916290254742\n",
      "Y:168, X:-36, Z:-9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.19286791]\n",
      " [ 0.34298393]\n",
      " [-1.01087853]]\n",
      "Translation Vector:\n",
      " [[  17.06206482]\n",
      " [  90.70825457]\n",
      " [3667.62163469]]\n",
      "used_time:0.046 sec\n",
      "t0:0.15117920823654368, t1:-0.7967458766745206\n",
      "pitch:2.9540760319767387, yaw:-0.6250021456568037, roll:-0.1532793461869388\n",
      "Y:169, X:-35, Z:-8\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2070708 ]\n",
      " [ 0.36377935]\n",
      " [-0.88372874]]\n",
      "Translation Vector:\n",
      " [[-1.21811029e+00]\n",
      " [ 1.00337010e+02]\n",
      " [ 3.70253028e+03]]\n",
      "used_time:0.046 sec\n",
      "t0:0.13812548393816637, t1:-0.8410740964898389\n",
      "pitch:2.978820483680239, yaw:-0.5503520162039351, roll:-0.17984482128880783\n",
      "Y:170, X:-31, Z:-10\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.20158135]\n",
      " [ 0.3569358 ]\n",
      " [-0.96996126]]\n",
      "Translation Vector:\n",
      " [[-1.24258668e+00]\n",
      " [ 1.00181531e+02]\n",
      " [ 3.69829227e+03]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1497450314439694, t1:-0.8111131867595915\n",
      "pitch:2.9590315384700854, yaw:-0.6009124079527919, roll:-0.16535123753678038\n",
      "Y:169, X:-34, Z:-9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.23063788]\n",
      " [ 0.36077506]\n",
      " [-0.94759354]]\n",
      "Translation Vector:\n",
      " [[-2.23098633e-02]\n",
      " [ 9.57215265e+01]\n",
      " [ 3.66197537e+03]]\n",
      "used_time:0.059 sec\n",
      "t0:0.17214323684323862, t1:-0.8159670764444693\n",
      "pitch:2.933673180113008, yaw:-0.584609252184628, roll:-0.1596506704618879\n",
      "Y:168, X:-33, Z:-9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.1791603 ]\n",
      " [ 0.33838397]\n",
      " [-0.94606904]]\n",
      "Translation Vector:\n",
      " [[3.38251961e-01]\n",
      " [1.01455922e+02]\n",
      " [3.70545965e+03]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1254174290512102, t1:-0.821975983130582\n",
      "pitch:2.9901800420328306, yaw:-0.5890136259512984, roll:-0.16607039066462428\n",
      "Y:171, X:-33, Z:-9\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24181034]\n",
      " [ 0.31852961]\n",
      " [-0.90483427]]\n",
      "Translation Vector:\n",
      " [[-1.87113616e+00]\n",
      " [ 1.00834653e+02]\n",
      " [ 3.70765642e+03]]\n",
      "used_time:0.054 sec\n",
      "t0:0.1774391957692637, t1:-0.8303101277347109\n",
      "pitch:2.9310571744222957, yaw:-0.5565965758846403, roll:-0.1355271156695221\n",
      "Y:167, X:-31, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24181034]\n",
      " [ 0.31852961]\n",
      " [-0.90483427]]\n",
      "Translation Vector:\n",
      " [[-1.87113616e+00]\n",
      " [ 1.00834653e+02]\n",
      " [ 3.70765642e+03]]\n",
      "used_time:0.047 sec\n",
      "t0:0.1774391957692637, t1:-0.8303101277347109\n",
      "pitch:2.9310571744222957, yaw:-0.5565965758846403, roll:-0.1355271156695221\n",
      "Y:167, X:-31, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.23387668]\n",
      " [ 0.31535662]\n",
      " [-0.90427501]]\n",
      "Translation Vector:\n",
      " [[   3.78091829]\n",
      " [ 101.84198164]\n",
      " [3672.24134122]]\n",
      "used_time:0.046 sec\n",
      "t0:0.17015696668870084, t1:-0.8315518187852093\n",
      "pitch:2.9397531794444784, yaw:-0.5571178427712864, roll:-0.13651284203241953\n",
      "Y:168, X:-31, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.24813636]\n",
      " [ 0.30905347]\n",
      " [-0.84860013]]\n",
      "Translation Vector:\n",
      " [[   4.10193464]\n",
      " [ 102.65736417]\n",
      " [3680.95336096]]\n",
      "used_time:0.047 sec\n",
      "t0:0.17387901943120637, t1:-0.8486709574545976\n",
      "pitch:2.9395054725686247, yaw:-0.5230486082921881, roll:-0.135463675066569\n",
      "Y:168, X:-29, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2674979 ]\n",
      " [ 0.28891101]\n",
      " [-0.7864015 ]]\n",
      "Translation Vector:\n",
      " [[   5.62557353]\n",
      " [ 104.03762961]\n",
      " [3663.75552883]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1829422459465897, t1:-0.8660495782395987\n",
      "pitch:2.933415415049505, yaw:-0.48395671892100545, roll:-0.12482447560683457\n",
      "Y:168, X:-27, Z:-7\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2569574 ]\n",
      " [ 0.27130634]\n",
      " [-0.79374609]]\n",
      "Translation Vector:\n",
      " [[   6.87818744]\n",
      " [ 108.55303411]\n",
      " [3675.89541348]]\n",
      "used_time:0.046 sec\n",
      "t0:0.17528299046272516, t1:-0.8655005952084773\n",
      "pitch:2.941773186449806, yaw:-0.488428035647819, roll:-0.1162688364751128\n",
      "Y:168, X:-27, Z:-6\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.28209039]\n",
      " [ 0.2573438 ]\n",
      " [-0.79640214]]\n",
      "Translation Vector:\n",
      " [[  10.30734902]\n",
      " [ 113.77123512]\n",
      " [3722.10885344]]\n",
      "used_time:0.045 sec\n",
      "t0:0.2003402934051319, t1:-0.8610977997976696\n",
      "pitch:2.9130023796201714, yaw:-0.4862404661367459, roll:-0.09956761833118362\n",
      "Y:166, X:-27, Z:-5\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31071959]\n",
      " [ 0.23271035]\n",
      " [-0.73303882]]\n",
      "Translation Vector:\n",
      " [[  10.3381956 ]\n",
      " [ 114.89088227]\n",
      " [3756.99211381]]\n",
      "used_time:0.06 sec\n",
      "t0:0.21880871606573, t1:-0.8755877361160005\n",
      "pitch:2.896708818926154, yaw:-0.44522500311633206, roll:-0.08465187294220035\n",
      "Y:165, X:-25, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.31071959]\n",
      " [ 0.23271035]\n",
      " [-0.73303882]]\n",
      "Translation Vector:\n",
      " [[  10.3381956 ]\n",
      " [ 114.89088227]\n",
      " [3756.99211381]]\n",
      "used_time:0.045 sec\n",
      "t0:0.21880871606573, t1:-0.8755877361160005\n",
      "pitch:2.896708818926154, yaw:-0.44522500311633206, roll:-0.08465187294220035\n",
      "Y:165, X:-25, Z:-4\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2980503 ]\n",
      " [ 0.17547077]\n",
      " [-0.65727343]]\n",
      "Translation Vector:\n",
      " [[  32.30719144]\n",
      " [ 114.11332837]\n",
      " [3692.83261868]]\n",
      "used_time:0.062 sec\n",
      "t0:0.19927261304911828, t1:-0.8993707607626475\n",
      "pitch:2.9235463471631498, yaw:-0.39968766846136056, roll:-0.06197527819920668\n",
      "Y:167, X:-22, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.2980503 ]\n",
      " [ 0.17547077]\n",
      " [-0.65727343]]\n",
      "Translation Vector:\n",
      " [[  32.30719144]\n",
      " [ 114.11332837]\n",
      " [3692.83261868]]\n",
      "used_time:0.048 sec\n",
      "t0:0.19927261304911828, t1:-0.8993707607626475\n",
      "pitch:2.9235463471631498, yaw:-0.39968766846136056, roll:-0.06197527819920668\n",
      "Y:167, X:-22, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29690481]\n",
      " [ 0.15644486]\n",
      " [-0.63762043]]\n",
      "Translation Vector:\n",
      " [[  44.86927198]\n",
      " [ 119.92393755]\n",
      " [3696.19748817]]\n",
      "used_time:0.047 sec\n",
      "t0:0.19663001726632034, t1:-0.9048012853935634\n",
      "pitch:2.927601533166324, yaw:-0.3873310270172374, roll:-0.05270957183253644\n",
      "Y:167, X:-22, Z:-3\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.29582237]\n",
      " [ 0.14911513]\n",
      " [-0.61512921]]\n",
      "Translation Vector:\n",
      " [[  54.94204302]\n",
      " [ 121.04267843]\n",
      " [3705.96803019]]\n",
      "used_time:0.047 sec\n",
      "t0:0.19289584583978514, t1:-0.910671611480024\n",
      "pitch:2.9328607190334073, yaw:-0.3739908107253364, roll:-0.05079354899126238\n",
      "Y:168, X:-21, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27485337]\n",
      " [ 0.13443582]\n",
      " [-0.61127146]]\n",
      "Translation Vector:\n",
      " [[  66.359415  ]\n",
      " [ 119.54114066]\n",
      " [3672.6633849 ]]\n",
      "used_time:0.046 sec\n",
      "t0:0.17329538240261158, t1:-0.9149183128754046\n",
      "pitch:2.9543994681148003, yaw:-0.3731443296438516, roll:-0.04661997795365144\n",
      "Y:169, X:-21, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26961837]\n",
      " [ 0.12381674]\n",
      " [-0.63879517]]\n",
      "Translation Vector:\n",
      " [[  75.02552673]\n",
      " [ 117.42315739]\n",
      " [3667.90711473]]\n",
      "used_time:0.051 sec\n",
      "t0:0.17318779771887322, t1:-0.9088399824579712\n",
      "pitch:2.953291069866344, yaw:-0.3892495749019018, roll:-0.03847778580438667\n",
      "Y:169, X:-22, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27209216]\n",
      " [ 0.13303398]\n",
      " [-0.65876037]]\n",
      "Translation Vector:\n",
      " [[  83.38870291]\n",
      " [ 122.49154672]\n",
      " [3667.03431758]]\n",
      "used_time:0.046 sec\n",
      "t0:0.1779052660471339, t1:-0.903285763576827\n",
      "pitch:2.947128157803967, yaw:-0.4010832602822173, roll:-0.04162013995872509\n",
      "Y:168, X:-22, Z:-2\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.26814435]\n",
      " [ 0.11049873]\n",
      " [-0.66022859]]\n",
      "Translation Vector:\n",
      " [[  91.96981102]\n",
      " [ 117.52923671]\n",
      " [3653.23195557]]\n",
      "used_time:0.047 sec\n",
      "t0:0.17626599714766608, t1:-0.9035635917748506\n",
      "pitch:2.9489335748041188, yaw:-0.4011925715686553, roll:-0.028305835116103763\n",
      "Y:168, X:-22, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27351666]\n",
      " [ 0.10261169]\n",
      " [-0.64716852]]\n",
      "Translation Vector:\n",
      " [[  98.48405215]\n",
      " [ 112.17462276]\n",
      " [3665.78480948]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1799851628092437, t1:-0.9062535062924404\n",
      "pitch:2.945540194790092, yaw:-0.39250574125198073, roll:-0.023573597409025638\n",
      "Y:168, X:-22, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27870899]\n",
      " [ 0.10103617]\n",
      " [-0.64323506]]\n",
      "Translation Vector:\n",
      " [[ 102.07915284]\n",
      " [ 119.50815867]\n",
      " [3664.13492801]]\n",
      "used_time:0.063 sec\n",
      "t0:0.1844488869990829, t1:-0.906528287506611\n",
      "pitch:2.9408653599261836, yaw:-0.38949046768526563, roll:-0.021891449898725407\n",
      "Y:168, X:-22, Z:-1\n",
      "Camera Matrix :[[640.   0. 320.]\n",
      " [  0. 640. 240.]\n",
      " [  0.   0.   1.]]\n",
      "Rotation Vector:\n",
      " [[-3.27870899]\n",
      " [ 0.10103617]\n",
      " [-0.64323506]]\n",
      "Translation Vector:\n",
      " [[ 102.07915284]\n",
      " [ 119.50815867]\n",
      " [3664.13492801]]\n",
      "used_time:0.045 sec\n",
      "t0:0.1844488869990829, t1:-0.906528287506611\n",
      "pitch:2.9408653599261836, yaw:-0.38949046768526563, roll:-0.021891449898725407\n",
      "Y:168, X:-22, Z:-1\n"
     ]
    }
   ],
   "source": [
    "#!/usr/bin/env python\n",
    " \n",
    "import cv2\n",
    "import numpy as np\n",
    "import dlib\n",
    "import time\n",
    "import math\n",
    "\n",
    "detector = dlib.get_frontal_face_detector()\n",
    "predictor = dlib.shape_predictor(\"D:/myworkspace/JupyterNotebook/fatigue_detecting/model/shape_predictor_68_face_landmarks.dat\")\n",
    "POINTS_NUM_LANDMARK = 68\n",
    "\n",
    "# 获取最大的人脸\n",
    "def _largest_face(dets):\n",
    "    if len(dets) == 1:\n",
    "        return 0\n",
    "\n",
    "    face_areas = [ (det.right()-det.left())*(det.bottom()-det.top()) for det in dets]\n",
    "\n",
    "    largest_area = face_areas[0]\n",
    "    largest_index = 0\n",
    "    for index in range(1, len(dets)):\n",
    "        if face_areas[index] > largest_area :\n",
    "            largest_index = index\n",
    "            largest_area = face_areas[index]\n",
    "\n",
    "    print(\"largest_face index is {} in {} faces\".format(largest_index, len(dets)))\n",
    "\n",
    "    return largest_index\n",
    "\n",
    "# 从dlib的检测结果抽取姿态估计需要的点坐标\n",
    "def get_image_points_from_landmark_shape(landmark_shape):\n",
    "    if landmark_shape.num_parts != POINTS_NUM_LANDMARK:\n",
    "        print(\"ERROR:landmark_shape.num_parts-{}\".format(landmark_shape.num_parts))\n",
    "        return -1, None\n",
    "    \n",
    "    #2D image points. If you change the image, you need to change vector\n",
    "    image_points = np.array([\n",
    "                                (landmark_shape.part(30).x, landmark_shape.part(30).y),     # Nose tip\n",
    "                                (landmark_shape.part(8).x, landmark_shape.part(8).y),     # Chin\n",
    "                                (landmark_shape.part(36).x, landmark_shape.part(36).y),     # Left eye left corner\n",
    "                                (landmark_shape.part(45).x, landmark_shape.part(45).y),     # Right eye right corne\n",
    "                                (landmark_shape.part(48).x, landmark_shape.part(48).y),     # Left Mouth corner\n",
    "                                (landmark_shape.part(54).x, landmark_shape.part(54).y)      # Right mouth corner\n",
    "                            ], dtype=\"double\")\n",
    "\n",
    "    return 0, image_points\n",
    "    \n",
    "# 用dlib检测关键点，返回姿态估计需要的几个点坐标\n",
    "def get_image_points(img):\n",
    "                            \n",
    "    #gray = cv2.cvtColor( img, cv2.COLOR_BGR2GRAY )  # 图片调整为灰色\n",
    "    dets = detector( img, 0 )\n",
    "\n",
    "    if 0 == len( dets ):\n",
    "        print( \"ERROR: found no face\" )\n",
    "        return -1, None\n",
    "    largest_index = _largest_face(dets)\n",
    "    face_rectangle = dets[largest_index]\n",
    "\n",
    "    landmark_shape = predictor(img, face_rectangle)\n",
    "\n",
    "    return get_image_points_from_landmark_shape(landmark_shape)\n",
    "\n",
    "\n",
    "# 获取旋转向量和平移向量                        \n",
    "def get_pose_estimation(img_size, image_points ):\n",
    "    # 参考：https://www.learnopencv.com/head-pose-estimation-using-opencv-and-dlib/\n",
    "    # 3D model points.\n",
    "    model_points = np.array([\n",
    "                                (0.0, 0.0, 0.0),             # Nose tip\n",
    "                                (0.0, -330.0, -65.0),        # Chin\n",
    "                                (-225.0, 170.0, -135.0),     # Left eye left corner\n",
    "                                (225.0, 170.0, -135.0),      # Right eye right corne\n",
    "                                (-150.0, -150.0, -125.0),    # Left Mouth corner\n",
    "                                (150.0, -150.0, -125.0)      # Right mouth corner\n",
    "                             \n",
    "                            ])\n",
    "     \n",
    "    # Camera internals\n",
    "     \n",
    "    focal_length = img_size[1]\n",
    "    center = (img_size[1]/2, img_size[0]/2)\n",
    "    camera_matrix = np.array(\n",
    "                             [[focal_length, 0, center[0]],\n",
    "                             [0, focal_length, center[1]],\n",
    "                             [0, 0, 1]], dtype = \"double\"\n",
    "                             )\n",
    "     \n",
    "    print(\"Camera Matrix :{}\".format(camera_matrix))\n",
    "     \n",
    "    dist_coeffs = np.zeros((4,1)) # Assuming no lens distortion\n",
    "    (success, rotation_vector, translation_vector) = cv2.solvePnP(model_points, image_points, camera_matrix, dist_coeffs, flags=cv2.SOLVEPNP_ITERATIVE )\n",
    " \n",
    "    print(\"Rotation Vector:\\n {}\".format(rotation_vector))\n",
    "    print(\"Translation Vector:\\n {}\".format(translation_vector))\n",
    "    return success, rotation_vector, translation_vector, camera_matrix, dist_coeffs\n",
    "\n",
    "# 从旋转向量转换为欧拉角\n",
    "def get_euler_angle(rotation_vector):\n",
    "    # calculate rotation angles\n",
    "    theta = cv2.norm(rotation_vector, cv2.NORM_L2)\n",
    "    \n",
    "    # transformed to quaterniond\n",
    "    w = math.cos(theta / 2)\n",
    "    x = math.sin(theta / 2)*rotation_vector[0][0] / theta\n",
    "    y = math.sin(theta / 2)*rotation_vector[1][0] / theta\n",
    "    z = math.sin(theta / 2)*rotation_vector[2][0] / theta\n",
    "    \n",
    "    ysqr = y * y\n",
    "    # pitch (x-axis rotation)\n",
    "    t0 = 2.0 * (w * x + y * z)\n",
    "    t1 = 1.0 - 2.0 * (x * x + ysqr)\n",
    "    print('t0:{}, t1:{}'.format(t0, t1))\n",
    "    pitch = math.atan2(t0, t1)\n",
    "    \n",
    "    # yaw (y-axis rotation)\n",
    "    t2 = 2.0 * (w * y - z * x)\n",
    "    if t2 > 1.0:\n",
    "        t2 = 1.0\n",
    "    if t2 < -1.0:\n",
    "        t2 = -1.0\n",
    "    yaw = math.asin(t2)\n",
    "    \n",
    "    # roll (z-axis rotation)\n",
    "    t3 = 2.0 * (w * z + x * y)\n",
    "    t4 = 1.0 - 2.0 * (ysqr + z * z)\n",
    "    roll = math.atan2(t3, t4)\n",
    "    \n",
    "    print('pitch:{}, yaw:{}, roll:{}'.format(pitch, yaw, roll))\n",
    "    \n",
    "\t# 单位转换：将弧度转换为度\n",
    "    Y = int((pitch/math.pi)*180)\n",
    "    X = int((yaw/math.pi)*180)\n",
    "    Z = int((roll/math.pi)*180)\n",
    "    \n",
    "    return 0, Y, X, Z\n",
    "\n",
    "def get_pose_estimation_in_euler_angle(landmark_shape, im_szie):\n",
    "    try:\n",
    "        ret, image_points = get_image_points_from_landmark_shape(landmark_shape)\n",
    "        if ret != 0:\n",
    "            print('get_image_points failed')\n",
    "            return -1, None, None, None\n",
    "    \n",
    "        ret, rotation_vector, translation_vector, camera_matrix, dist_coeffs = get_pose_estimation(im_szie, image_points)\n",
    "        if ret != True:\n",
    "            print('get_pose_estimation failed')\n",
    "            return -1, None, None, None\n",
    "    \n",
    "        ret, pitch, yaw, roll = get_euler_angle(rotation_vector)\n",
    "        if ret != 0:\n",
    "            print('get_euler_angle failed')\n",
    "            return -1, None, None, None\n",
    "\n",
    "        euler_angle_str = 'Y:{}, X:{}, Z:{}'.format(pitch, yaw, roll)\n",
    "        print(euler_angle_str)\n",
    "        return 0, pitch, yaw, roll\n",
    "    \n",
    "    except Exception as e:\n",
    "        print('get_pose_estimation_in_euler_angle exception:{}'.format(e))\n",
    "        return -1, None, None, None\n",
    "        \n",
    "if __name__ == '__main__':\n",
    "\n",
    "    cap = cv2.VideoCapture(0)\n",
    "    while (cap.isOpened()):\n",
    "        start_time = time.time()\n",
    "        \n",
    "        # Read Image\n",
    "        ret, im = cap.read()\n",
    "        if ret != True:\n",
    "            print('read frame failed')\n",
    "            continue\n",
    "        size = im.shape\n",
    "        \n",
    "        if size[0] > 700:\n",
    "            h = size[0] / 3\n",
    "            w = size[1] / 3\n",
    "            im = cv2.resize( im, (int( w ), int( h )), interpolation=cv2.INTER_CUBIC )\n",
    "            size = im.shape\n",
    "     \n",
    "        ret, image_points = get_image_points(im)\n",
    "        if ret != 0:\n",
    "            print('get_image_points failed')\n",
    "            continue\n",
    "        \n",
    "        ret, rotation_vector, translation_vector, camera_matrix, dist_coeffs = get_pose_estimation(size, image_points)\n",
    "        if ret != True:\n",
    "            print('get_pose_estimation failed')\n",
    "            continue\n",
    "        used_time = time.time() - start_time\n",
    "        print(\"used_time:{} sec\".format(round(used_time, 3)))\n",
    "        \n",
    "        ret, pitch, yaw, roll = get_euler_angle(rotation_vector)\n",
    "        euler_angle_str = 'Y:{}, X:{}, Z:{}'.format(pitch, yaw, roll)\n",
    "        print(euler_angle_str)\n",
    "        \n",
    "        # Project a 3D point (0, 0, 1000.0) onto the image plane.\n",
    "        # We use this to draw a line sticking out of the nose\n",
    "         \n",
    "        (nose_end_point2D, jacobian) = cv2.projectPoints(np.array([(0.0, 0.0, 1000.0)]), rotation_vector, translation_vector, camera_matrix, dist_coeffs)\n",
    "         \n",
    "        for p in image_points:\n",
    "            cv2.circle(im, (int(p[0]), int(p[1])), 3, (0,0,255), -1)\n",
    "         \n",
    "         \n",
    "        p1 = ( int(image_points[0][0]), int(image_points[0][1]))\n",
    "        p2 = ( int(nose_end_point2D[0][0][0]), int(nose_end_point2D[0][0][1]))\n",
    "         \n",
    "        cv2.line(im, p1, p2, (255,0,0), 2)\n",
    "         \n",
    "        # Display image\n",
    "        #cv2.putText( im, str(rotation_vector), (0, 100), cv2.FONT_HERSHEY_PLAIN, 1, (0, 0, 255), 1 )\n",
    "        cv2.putText( im, euler_angle_str, (0, 120), cv2.FONT_HERSHEY_PLAIN, 1, (0, 0, 255), 1 )\n",
    "        # 按q退出\n",
    "        cv2.putText(frame, \"Press 'q': Quit\", (20, 500),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (84, 255, 159), 2)\n",
    "        # 窗口显示 show with opencv\n",
    "        cv2.imshow(\"Output\", im)\n",
    "        # if the `q` key was pressed, break from the loop\n",
    "        if cv2.waitKey(1) & 0xFF == ord('q'):\n",
    "            break\n",
    "    # 释放摄像头 release camera\n",
    "    cap.release()\n",
    "    # do a bit of cleanup\n",
    "    cv2.destroyAllWindows()\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pitch:-1.52592486482225, yaw:-3.641155633231405, roll:-1.7343345663356509\n",
      "pitch:-0.95245073834262, yaw:-0.9839147796335558, roll:-1.2506715126638224\n",
      "pitch:-0.9174671700786005, yaw:-1.5239128012326761, roll:-1.324680110854094\n",
      "pitch:-0.45865802124326294, yaw:-2.078850407172968, roll:-1.806950616178291\n",
      "pitch:-0.5285176270195822, yaw:-1.3066623687256034, roll:-1.4783328399909006\n",
      "pitch:-1.1614956033115056, yaw:-2.6926970018811933, roll:-1.4442059039867419\n",
      "pitch:-2.2354935743612674, yaw:-2.715603409927391, roll:-1.3090854510909937\n",
      "pitch:-2.274517207168189, yaw:-2.215332515744181, roll:-1.357885150152115\n",
      "pitch:-0.6695672299130452, yaw:-3.064056104936772, roll:-1.3580953659016977\n",
      "pitch:-1.4596007667679474, yaw:-4.228628583862223, roll:-1.4342447814158774\n",
      "pitch:-0.6094586134123463, yaw:-2.5001888584668626, roll:-1.426960264223968\n",
      "pitch:-0.6094586134123463, yaw:-2.5001888584668626, roll:-1.426960264223968\n",
      "pitch:-1.709734387659002, yaw:-2.822636852142856, roll:-1.3122006468925178\n",
      "pitch:-2.9688797169442065, yaw:-4.3124001425958784, roll:-1.4336661317886685\n",
      "pitch:-3.4517066551128406, yaw:-5.028901525387876, roll:-1.2053811485111436\n",
      "pitch:-3.463652358604974, yaw:-7.159567110832623, roll:-0.5899449682332806\n",
      "pitch:-3.2959718404663, yaw:-11.354241163807238, roll:-0.675864949694765\n",
      "pitch:-3.2959718404663, yaw:-11.354241163807238, roll:-0.675864949694765\n",
      "pitch:-3.7632578673865824, yaw:-12.674962095905194, roll:-0.6089654979505745\n",
      "pitch:-5.031891695560308, yaw:-15.018700275750087, roll:-0.8145268440588493\n",
      "pitch:-5.098389222302678, yaw:-16.55473505283938, roll:-0.9616989021640069\n",
      "pitch:-6.197653556590163, yaw:-16.137886244688545, roll:-0.7556548397799799\n",
      "pitch:-5.857631285627166, yaw:-17.80626536481133, roll:-0.352371423618915\n",
      "pitch:-7.354029216444776, yaw:-15.287832733867141, roll:-0.07928938542233598\n",
      "pitch:-7.826914411381859, yaw:-16.813837185726875, roll:0.1785736393119312\n",
      "pitch:-8.57648490022489, yaw:-17.813165597202918, roll:-0.478626261281799\n",
      "pitch:-8.57648490022489, yaw:-17.813165597202918, roll:-0.478626261281799\n",
      "pitch:-8.62598405342675, yaw:-16.867275143324544, roll:0.09027968980383101\n",
      "pitch:-8.295079252272958, yaw:-17.969789528381874, roll:-0.2519588968308675\n",
      "pitch:-8.78924881865578, yaw:-17.79050508183727, roll:-0.12886379336976894\n",
      "pitch:-9.218187263047943, yaw:-16.768603325287554, roll:0.12653958850745148\n",
      "pitch:-8.63869946899657, yaw:-17.100365968451833, roll:0.5524177275630049\n",
      "pitch:-8.63869946899657, yaw:-17.100365968451833, roll:0.5524177275630049\n",
      "pitch:-9.572433076886627, yaw:-17.249676024029934, roll:0.5806116508694061\n",
      "pitch:-8.254153705371506, yaw:-14.91464922221505, roll:0.49165618911604686\n",
      "pitch:-7.925085838191192, yaw:-17.842091899895156, roll:0.23262475315415174\n",
      "pitch:-7.925085838191192, yaw:-17.842091899895156, roll:0.23262475315415174\n",
      "pitch:-7.793480729059369, yaw:-16.19948578273013, roll:0.4229962960125677\n",
      "pitch:-7.825549720315549, yaw:-15.54834966423041, roll:-0.0019562933459841532\n",
      "pitch:-7.961171357288482, yaw:-15.685297692236691, roll:0.4411608029952313\n",
      "pitch:-8.973591887548281, yaw:-16.461673291061956, roll:0.4156616547559597\n",
      "pitch:-9.758971700834355, yaw:-14.071357287185778, roll:-0.14458957155086827\n",
      "pitch:-10.10757527734896, yaw:-9.880016220869354, roll:-0.39564056105204265\n",
      "pitch:-10.095086706089845, yaw:-11.326507899411984, roll:-0.9634391901375241\n",
      "pitch:-10.095086706089845, yaw:-11.326507899411984, roll:-0.9634391901375241\n",
      "pitch:-12.802446064581767, yaw:-8.064815110988713, roll:-0.9494891851228191\n",
      "pitch:-9.901723351100664, yaw:-8.927865248221183, roll:-0.9405795621895291\n",
      "pitch:-11.7970025509101, yaw:-8.296399613406734, roll:-0.889845044089612\n",
      "pitch:-10.805933834712802, yaw:-7.737920350772438, roll:-0.904833331808418\n",
      "pitch:-10.44427363726284, yaw:-7.838882107694402, roll:-0.6639065943038265\n",
      "pitch:-10.44427363726284, yaw:-7.838882107694402, roll:-0.6639065943038265\n",
      "pitch:-9.915705256880743, yaw:-8.131250699371039, roll:-1.1939399803300488\n",
      "pitch:-11.155485501923609, yaw:-6.478059536219652, roll:-0.7702457666069364\n",
      "pitch:-10.959836315417373, yaw:-6.78403629012659, roll:-0.7131500697149352\n",
      "pitch:-10.070312566516177, yaw:-7.610044233043805, roll:-0.8847356879545837\n",
      "pitch:-10.070312566516177, yaw:-7.610044233043805, roll:-0.8847356879545837\n",
      "pitch:-8.288233523399523, yaw:-7.09586953638027, roll:-1.4775969190901146\n",
      "pitch:-8.283145859348327, yaw:-6.648635479418828, roll:-2.703644394040068\n",
      "pitch:-10.21261438914622, yaw:-6.477518728908205, roll:-4.150074955575\n",
      "pitch:-7.434840930040767, yaw:-4.941406717090552, roll:-4.534048496726234\n",
      "pitch:-6.101808144755771, yaw:-4.547325824480133, roll:-4.85673002702479\n",
      "pitch:-5.474893990383474, yaw:-5.743323564221713, roll:-5.099140201529743\n",
      "pitch:-5.935556544931166, yaw:-5.067996431294465, roll:-4.996753411872619\n",
      "pitch:-5.935556544931166, yaw:-5.067996431294465, roll:-4.996753411872619\n",
      "pitch:-7.017215185742234, yaw:-5.666869106098982, roll:-4.393579363807628\n",
      "pitch:-7.9884310064769615, yaw:-6.682304289142254, roll:-4.156139380557045\n",
      "pitch:-5.8314713229858155, yaw:-4.769989965214758, roll:-4.216490729011189\n",
      "pitch:-4.813215841104321, yaw:-5.784303340013523, roll:-4.24926531895325\n",
      "pitch:-4.813215841104321, yaw:-5.784303340013523, roll:-4.24926531895325\n",
      "pitch:-7.4410389752573955, yaw:-6.1819942619000585, roll:-3.499945594139011\n",
      "pitch:-7.4410389752573955, yaw:-6.1819942619000585, roll:-3.499945594139011\n",
      "pitch:-6.5007868382106855, yaw:-7.405850006237912, roll:-3.6399722634730503\n"
     ]
    }
   ],
   "source": [
    "# 参考https://github.com/lincolnhard/head-pose-estimation\n",
    "import cv2\n",
    "import dlib\n",
    "import numpy as np\n",
    "from imutils import face_utils\n",
    "\"\"\"\n",
    "思路：\n",
    "    第一步：2D人脸关键点检测；第二步：3D人脸模型匹配；\n",
    "    第三步：求解3D点和对应2D点的转换关系；第四步：根据旋转矩阵求解欧拉角。\n",
    "\"\"\"\n",
    "\n",
    "# 加载人脸检测和姿势估计模型（dlib）\n",
    "face_landmark_path = 'D:/myworkspace/JupyterNotebook/fatigue_detecting/model/shape_predictor_68_face_landmarks.dat'\n",
    "\n",
    "\"\"\"\n",
    "只要知道世界坐标系内点的位置、像素坐标位置和相机参数就可以搞定旋转和平移矩阵(OpenCV自带函数solvePnp())\n",
    "\"\"\"\n",
    "\n",
    "# 世界坐标系(UVW)：填写3D参考点，该模型参考http://aifi.isr.uc.pt/Downloads/OpenGL/glAnthropometric3DModel.cpp\n",
    "object_pts = np.float32([[6.825897, 6.760612, 4.402142],  #33左眉左上角\n",
    "                         [1.330353, 7.122144, 6.903745],  #29左眉右角\n",
    "                         [-1.330353, 7.122144, 6.903745], #34右眉左角\n",
    "                         [-6.825897, 6.760612, 4.402142], #38右眉右上角\n",
    "                         [5.311432, 5.485328, 3.987654],  #13左眼左上角\n",
    "                         [1.789930, 5.393625, 4.413414],  #17左眼右上角\n",
    "                         [-1.789930, 5.393625, 4.413414], #25右眼左上角\n",
    "                         [-5.311432, 5.485328, 3.987654], #21右眼右上角\n",
    "                         [2.005628, 1.409845, 6.165652],  #55鼻子左上角\n",
    "                         [-2.005628, 1.409845, 6.165652], #49鼻子右上角\n",
    "                         [2.774015, -2.080775, 5.048531], #43嘴左上角\n",
    "                         [-2.774015, -2.080775, 5.048531],#39嘴右上角\n",
    "                         [0.000000, -3.116408, 6.097667], #45嘴中央下角\n",
    "                         [0.000000, -7.415691, 4.070434]])#6下巴角\n",
    "\n",
    "# 相机坐标系(XYZ)：添加相机内参\n",
    "K = [6.5308391993466671e+002, 0.0, 3.1950000000000000e+002,\n",
    "     0.0, 6.5308391993466671e+002, 2.3950000000000000e+002,\n",
    "     0.0, 0.0, 1.0]# 等价于矩阵[fx, 0, cx; 0, fy, cy; 0, 0, 1]\n",
    "# 图像中心坐标系(uv)：相机畸变参数[k1, k2, p1, p2, k3]\n",
    "D = [7.0834633684407095e-002, 6.9140193737175351e-002, 0.0, 0.0, -1.3073460323689292e+000]\n",
    "\n",
    "# 像素坐标系(xy)：填写凸轮的本征和畸变系数\n",
    "cam_matrix = np.array(K).reshape(3, 3).astype(np.float32)\n",
    "dist_coeffs = np.array(D).reshape(5, 1).astype(np.float32)\n",
    "\n",
    "\n",
    "\n",
    "# 重新投影3D点的世界坐标轴以验证结果姿势\n",
    "reprojectsrc = np.float32([[10.0, 10.0, 10.0],\n",
    "                           [10.0, 10.0, -10.0],\n",
    "                           [10.0, -10.0, -10.0],\n",
    "                           [10.0, -10.0, 10.0],\n",
    "                           [-10.0, 10.0, 10.0],\n",
    "                           [-10.0, 10.0, -10.0],\n",
    "                           [-10.0, -10.0, -10.0],\n",
    "                           [-10.0, -10.0, 10.0]])\n",
    "# 绘制正方体12轴\n",
    "line_pairs = [[0, 1], [1, 2], [2, 3], [3, 0],\n",
    "              [4, 5], [5, 6], [6, 7], [7, 4],\n",
    "              [0, 4], [1, 5], [2, 6], [3, 7]]\n",
    "\n",
    "def get_head_pose(shape):\n",
    "    # 填写2D参考点，注释遵循https://ibug.doc.ic.ac.uk/resources/300-W/\n",
    "    \"\"\"\n",
    "      17左眉左上角/21左眉右角/22右眉左上角/26右眉右上角/36左眼左上角/39左眼右上角/42右眼左上角/\n",
    "      45右眼右上角/31鼻子左上角/35鼻子右上角/48左上角/54嘴右上角/57嘴中央下角/8下巴角\n",
    "    \"\"\"\n",
    "    # 像素坐标集合\n",
    "    image_pts = np.float32([shape[17], shape[21], shape[22], shape[26], shape[36],\n",
    "                            shape[39], shape[42], shape[45], shape[31], shape[35],\n",
    "                            shape[48], shape[54], shape[57], shape[8]])\n",
    "    \"\"\"\n",
    "    用solvepnp或sovlepnpRansac，输入3d点、2d点、相机内参、相机畸变，输出r、t之后\n",
    "    用projectPoints，输入3d点、相机内参、相机畸变、r、t，输出重投影2d点\n",
    "    计算原2d点和重投影2d点的距离作为重投影误差\n",
    "    \"\"\"\n",
    "    # solvePnP计算姿势——求解旋转和平移矩阵：\n",
    "    # rotation_vec表示旋转矩阵，translation_vec表示平移矩阵，cam_matrix与K矩阵对应，dist_coeffs与D矩阵对应。\n",
    "    _, rotation_vec, translation_vec = cv2.solvePnP(object_pts, image_pts, cam_matrix, dist_coeffs)\n",
    "    # projectPoints重新投影误差\n",
    "    reprojectdst, _ = cv2.projectPoints(reprojectsrc, rotation_vec, translation_vec, cam_matrix,dist_coeffs)\n",
    "\n",
    "    reprojectdst = tuple(map(tuple, reprojectdst.reshape(8, 2)))# 以8行2列显示\n",
    "\n",
    "    # 计算欧拉角calc euler angle\n",
    "    # 参考https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#decomposeprojectionmatrix\n",
    "    rotation_mat, _ = cv2.Rodrigues(rotation_vec)#罗德里格斯公式（将旋转矩阵转换为旋转向量）\n",
    "    pose_mat = cv2.hconcat((rotation_mat, translation_vec))# 水平拼接，vconcat垂直拼接\n",
    "    # eulerAngles –可选的三元素矢量，包含三个以度为单位的欧拉旋转角度\n",
    "    _, _, _, _, _, _, euler_angle = cv2.decomposeProjectionMatrix(pose_mat)# 将投影矩阵分解为旋转矩阵和相机矩阵\n",
    "\n",
    "    return reprojectdst, euler_angle\n",
    "\n",
    "\n",
    "def main():\n",
    "    # return\n",
    "    cap = cv2.VideoCapture(0)\n",
    "    if not cap.isOpened():\n",
    "        print(\"Unable to connect to camera.\")\n",
    "        return\n",
    "    # 检测人脸\n",
    "    detector = dlib.get_frontal_face_detector()\n",
    "    # 检测第一个人脸的关键点\n",
    "    predictor = dlib.shape_predictor(face_landmark_path)\n",
    "\n",
    "    while cap.isOpened():\n",
    "        ret, frame = cap.read()\n",
    "        if ret:\n",
    "            face_rects = detector(frame, 0)\n",
    "\n",
    "            if len(face_rects) > 0:\n",
    "                # 循环脸部位置信息，使用predictor(gray, rect)获得脸部特征位置的信息\n",
    "                shape = predictor(frame, face_rects[0])\n",
    "                # 将脸部特征信息转换为数组array的格式\n",
    "                shape = face_utils.shape_to_np(shape)\n",
    "                # 获取头部姿态\n",
    "                reprojectdst, euler_angle = get_head_pose(shape)\n",
    "                pitch = format(euler_angle[0, 0])\n",
    "                yaw = format(euler_angle[1, 0])\n",
    "                roll = format(euler_angle[2, 0])\n",
    "                print('pitch:{}, yaw:{}, roll:{}'.format(pitch, yaw, roll))\n",
    "                \n",
    "                # 标出68个特征点\n",
    "                for (x, y) in shape:\n",
    "                    cv2.circle(frame, (x, y), 1, (0, 0, 255), -1)\n",
    "                    \n",
    "                # 绘制正方体12轴\n",
    "                for start, end in line_pairs:\n",
    "                    cv2.line(frame, reprojectdst[start], reprojectdst[end], (0, 0, 255))\n",
    "                # 显示角度结果\n",
    "                cv2.putText(frame, \"X: \" + \"{:7.2f}\".format(euler_angle[0, 0]), (20, 20), cv2.FONT_HERSHEY_SIMPLEX,0.75, (0, 0, 255), thickness=2)\n",
    "                cv2.putText(frame, \"Y: \" + \"{:7.2f}\".format(euler_angle[1, 0]), (20, 50), cv2.FONT_HERSHEY_SIMPLEX,0.75, (0, 0, 255), thickness=2)\n",
    "                cv2.putText(frame, \"Z: \" + \"{:7.2f}\".format(euler_angle[2, 0]), (20, 80), cv2.FONT_HERSHEY_SIMPLEX,0.75, (0, 0, 255), thickness=2)    \n",
    "    \n",
    "            # 按q退出提示\n",
    "            cv2.putText(frame, \"Press 'q': Quit\", (20, 450),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (84, 255, 159), 2)\n",
    "            # 窗口显示 show with opencv\n",
    "            cv2.imshow(\"Head_Posture\", frame)\n",
    "\n",
    "            if cv2.waitKey(1) & 0xFF == ord('q'):\n",
    "                break\n",
    "    # 释放摄像头 release camera\n",
    "    cap.release()\n",
    "    # do a bit of cleanup\n",
    "    cv2.destroyAllWindows()\n",
    "\n",
    "\n",
    "if __name__ == '__main__':\n",
    "    main()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[INFO] loading facial landmark predictor...\n",
      "pitch:-4.804883946492844, yaw:5.770244360102852, roll:7.74171155417443\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.12 \t是否眨眼：True\n",
      "pitch:-5.787747731528659, yaw:7.175109500430537, roll:7.394245394316196\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.10 \t是否眨眼：True\n",
      "pitch:-5.175370255050864, yaw:7.91738675335358, roll:7.44049987457066\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "D:\\mydownload\\Anaconda3\\lib\\site-packages\\ipykernel_launcher.py:257: DeprecationWarning: In future, it will be an error for 'np.bool_' scalars to be interpreted as an index\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-3.417337430548953, yaw:7.882616332864543, roll:7.586535310282108\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-3.6201771284730215, yaw:7.340429220026476, roll:7.7019484999778784\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-2.9474014580855474, yaw:6.6989419328776725, roll:7.581566025809672\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-2.656883270625584, yaw:6.891667613620012, roll:7.770281951775834\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-2.5584633180673033, yaw:7.228725418651386, roll:7.55791260229841\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-1.6390507723713066, yaw:7.588171158524226, roll:7.99493997075737\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-2.7424520985192005, yaw:8.184204950605924, roll:7.58847447388287\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-1.8510234679978292, yaw:7.08853268938259, roll:7.681401909936735\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-1.8510234679978292, yaw:7.08853268938259, roll:7.681401909936735\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-2.341761921598067, yaw:6.0713888733934125, roll:7.905154633013662\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-2.9496214470579605, yaw:6.32871600107567, roll:7.812351275714337\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.3306088035860992, yaw:6.202572450676563, roll:7.370331130447683\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-2.0056551028308283, yaw:5.099841131067861, roll:6.855289396256896\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-2.0056551028308283, yaw:5.099841131067861, roll:6.855289396256896\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-0.4805844446480369, yaw:5.5701729742827295, roll:6.377699157811981\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:0.8289961847497044, yaw:5.176024589087164, roll:5.702990870709301\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:2.4722617608959045, yaw:2.1843083178777047, roll:5.0009725345220195\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.9348891665308074, yaw:3.9770250211821185, roll:4.327518983793945\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.9348891665308074, yaw:3.9770250211821185, roll:4.327518983793945\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:3.1691248320204437, yaw:2.1541298783316485, roll:4.322988941509836\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.6974963634869145, yaw:4.52283068806307, roll:4.133149030790359\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:3.8115745066029607, yaw:6.7250235618752585, roll:3.883744613018344\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:3.8115745066029607, yaw:6.7250235618752585, roll:3.883744613018344\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:4.030473195256998, yaw:2.716241183958575, roll:3.6824854388321846\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:4.069680398238964, yaw:2.8682472388391704, roll:3.495454114569565\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.982938911002738, yaw:3.0028672846873654, roll:3.8125280192252697\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:3.731798988272057, yaw:2.2383937497235102, roll:3.6811739495896223\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:4.446430585445059, yaw:7.096860595835708, roll:3.880106997672212\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.082521875580276, yaw:4.878851448437262, roll:3.9033775494581433\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.65660017295014, yaw:5.223140772607852, roll:3.8071388306385763\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:3.65660017295014, yaw:5.223140772607852, roll:3.8071388306385763\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.9365558642973464, yaw:6.552769038997006, roll:4.095478261840444\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:1.4429644780898756, yaw:5.159335176860036, roll:4.266692040190005\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-1.8652363845731246, yaw:5.104242033849292, roll:4.776027027696956\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.64316392469382, yaw:4.867486632848919, roll:5.259277003730926\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.64316392469382, yaw:4.867486632848919, roll:5.259277003730926\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-9.603822637718855, yaw:4.830998536249015, roll:4.777203705320954\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-12.854654070320485, yaw:4.554419945604455, roll:5.472830329732493\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-17.133463674229922, yaw:4.029987839380216, roll:4.513372010775005\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-17.516015686024886, yaw:4.691408153286248, roll:4.138784053698449\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-17.516015686024886, yaw:4.691408153286248, roll:4.138784053698449\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-19.49365335859963, yaw:3.622074672554494, roll:3.218803190774155\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-16.595410751992038, yaw:4.257098646946206, roll:3.1738344133237617\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-15.411064298084675, yaw:4.115094054951466, roll:3.1803027547687925\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-17.376352355053157, yaw:3.2660643432402776, roll:2.9196331147285486\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-17.376352355053157, yaw:3.2660643432402776, roll:2.9196331147285486\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-14.037466071770433, yaw:4.256718080918843, roll:3.4038214887616838\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-14.330145118196597, yaw:3.3442203406339877, roll:3.0793141087878277\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-13.383203532297365, yaw:2.988000934238348, roll:3.306246218630845\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-12.428550824247138, yaw:4.375654381007684, roll:3.349919880562301\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-12.428550824247138, yaw:4.375654381007684, roll:3.349919880562301\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-10.647337596549411, yaw:3.5206372767468146, roll:3.5588037739610767\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-9.395753434551875, yaw:3.250863613981385, roll:3.4134131338135725\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-8.281078180867572, yaw:2.6355091280343257, roll:3.2984194376647964\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.339648347462686, yaw:0.5479677499564624, roll:2.962281503388188\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.339648347462686, yaw:0.5479677499564624, roll:2.962281503388188\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-2.1786487354931467, yaw:1.0059787631858292, roll:2.510809622238304\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-0.22453731898646762, yaw:0.45236600125326537, roll:1.912833703275143\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:2.4690002984202732, yaw:0.5023257642137231, roll:1.3546766870853497\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:2.4690002984202732, yaw:0.5023257642137231, roll:1.3546766870853497\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:2.8057362401024504, yaw:1.953533180164239, roll:1.4516262748979898\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.531136126556765, yaw:2.8336395599211652, roll:1.257760641294852\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:3.409243529263018, yaw:2.6594253958713647, roll:1.1169539835549325\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.409243529263018, yaw:2.6594253958713647, roll:1.1169539835549325\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:3.235349110626085, yaw:0.9494728614714851, roll:1.1107721733397817\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:2.9476192226373943, yaw:2.063401765805074, roll:1.513053439741765\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:2.8271085340333895, yaw:0.1871198517247965, roll:1.2831708003769249\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.8271085340333895, yaw:0.1871198517247965, roll:1.2831708003769249\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.418400748077703, yaw:2.259583391740706, roll:1.1051312335690564\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:2.1640461269786195, yaw:2.497989840677362, roll:1.0498757588609398\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.5014349049770304, yaw:2.671849540137353, roll:1.2209232568504962\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:1.828714747099065, yaw:2.131304328913043, roll:1.0999126841478388\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:1.828714747099065, yaw:2.131304328913043, roll:1.0999126841478388\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:0.8704423917093208, yaw:2.3971580293256003, roll:0.9695064946506641\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-0.7183990634910293, yaw:2.4668343011557017, roll:1.2606030215773458\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.452712493248596, yaw:2.445938636671752, roll:2.175793283208623\n",
      "嘴巴实时长宽比:0.39 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.452712493248596, yaw:2.445938636671752, roll:2.175793283208623\n",
      "嘴巴实时长宽比:0.39 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-14.82727517380223, yaw:3.044127615101916, roll:2.5322681161031673\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-19.41741632388199, yaw:3.753247646108214, roll:2.693747035165576\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-19.41741632388199, yaw:3.753247646108214, roll:2.693747035165576\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-20.59608467343187, yaw:3.6221584559600486, roll:3.2970219066534123\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-20.59608467343187, yaw:3.6221584559600486, roll:3.2970219066534123\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-18.2032930480841, yaw:3.7809727986725084, roll:3.177955847241103\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-18.2032930480841, yaw:3.7809727986725084, roll:3.177955847241103\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-18.761870576080216, yaw:4.3830755685825356, roll:3.1474409766975637\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-17.198314368312168, yaw:3.819651081170973, roll:3.166902144637049\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-16.884963748227236, yaw:4.808479188301678, roll:3.286011519942453\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-16.884963748227236, yaw:4.808479188301678, roll:3.286011519942453\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-15.954770875402318, yaw:5.1937237637742, roll:3.0366760200334553\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-12.799244062068377, yaw:4.034031099171429, roll:2.979367818613568\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-10.889319434970911, yaw:4.145151389164111, roll:3.580993908518146\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-10.889319434970911, yaw:4.145151389164111, roll:3.580993908518146\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.200549625543178, yaw:2.82531109409244, roll:3.5476046560927017\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-2.384491122381489, yaw:1.8541225076635475, roll:3.673075915954454\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:0.37461539792133275, yaw:3.892232959950836, roll:2.84976076984164\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:0.37461539792133275, yaw:3.892232959950836, roll:2.84976076984164\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:0.6093875591813276, yaw:-0.02175544019562138, roll:2.615783711918231\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:2.398425300333932, yaw:1.5536997657422043, roll:2.734424089250063\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:2.481634412342812, yaw:0.46515615083009293, roll:2.8289420258812212\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.481634412342812, yaw:0.46515615083009293, roll:2.8289420258812212\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:2.2481438696729152, yaw:1.7097587470824822, roll:2.880572484607782\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:1.7264796290344018, yaw:2.8173614216720027, roll:2.6077357527057674\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:1.5708380301867282, yaw:0.7570693139617369, roll:2.720201691404581\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:0.5545501415160674, yaw:4.925736193234282, roll:2.7836984371295572\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:0.5545501415160674, yaw:4.925736193234282, roll:2.7836984371295572\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-0.743009469371915, yaw:2.7776800387972584, roll:2.5709779998369755\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.15 \t是否眨眼：True\n",
      "pitch:-0.15372095769866279, yaw:3.9599243200374263, roll:2.7120651415052897\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.8578422110055537, yaw:6.3175217954396645, roll:2.521977692684873\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-2.5860639692487375, yaw:5.979205026701828, roll:3.207866949741917\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-2.5860639692487375, yaw:5.979205026701828, roll:3.207866949741917\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-7.1241590202374745, yaw:4.397001070458251, roll:3.5354506147264932\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-7.976282408517526, yaw:4.487186294685852, roll:3.7730007651079376\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-11.429982999238462, yaw:5.3058312549199025, roll:3.5818988543012686\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-11.429982999238462, yaw:5.3058312549199025, roll:3.5818988543012686\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-10.225949774049914, yaw:4.3101486928038035, roll:4.016631874496155\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-10.173848556215553, yaw:4.084387215022294, roll:3.6928542852306587\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-10.06623833533662, yaw:3.475608059035166, roll:4.202846356183808\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-10.619576551906542, yaw:4.690857954329132, roll:3.898002758809179\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-10.619576551906542, yaw:4.690857954329132, roll:3.898002758809179\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-10.56346651164341, yaw:4.652188976285447, roll:3.763778464738057\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-10.397231883842949, yaw:5.719300760710218, roll:3.770427252366417\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-8.71142649641521, yaw:5.835812066771569, roll:3.6728376549673474\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-8.716056164672338, yaw:5.479367770523916, roll:3.678764206046285\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-8.716056164672338, yaw:5.479367770523916, roll:3.678764206046285\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.974888201095507, yaw:5.477946943173462, roll:3.5181584416977665\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-8.02842958256333, yaw:5.628665166062667, roll:3.7292365449416343\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-8.945877341661646, yaw:6.141512279843744, roll:3.2199410745673935\n",
      "嘴巴实时长宽比:0.51 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.667967851506888, yaw:0.9604514353195193, roll:2.520029950170405\n",
      "嘴巴实时长宽比:0.74 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.582022632712275, yaw:-9.150303827319085, roll:1.9168206647604227\n",
      "嘴巴实时长宽比:0.96 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.257266622658819, yaw:-11.439955116595725, roll:1.7349535939005505\n",
      "嘴巴实时长宽比:1.08 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.04347683759415, yaw:-12.291952677474914, roll:1.6890739144460434\n",
      "嘴巴实时长宽比:1.08 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.04347683759415, yaw:-12.291952677474914, roll:1.6890739144460434\n",
      "嘴巴实时长宽比:1.08 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.196853527447464, yaw:-13.049565889097103, roll:1.2370401929579105\n",
      "嘴巴实时长宽比:1.16 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.431321096942403, yaw:-13.203429242731936, roll:0.44708041353535144\n",
      "嘴巴实时长宽比:1.18 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.471905799143136, yaw:-11.908159110863641, roll:0.5959139661146546\n",
      "嘴巴实时长宽比:1.12 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.929788847167021, yaw:-12.296890123340576, roll:0.8482172015975361\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:1.13 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.929788847167021, yaw:-12.296890123340576, roll:0.8482172015975361\n",
      "嘴巴实时长宽比:1.13 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.336235738026652, yaw:-9.326307359755196, roll:0.4787423979454993\n",
      "嘴巴实时长宽比:1.09 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.432763616930323, yaw:-13.052237032356054, roll:0.8400767569303286\n",
      "嘴巴实时长宽比:1.13 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.427747710599182, yaw:-12.76107132281295, roll:0.9967912462542358\n",
      "嘴巴实时长宽比:1.13 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-5.427747710599182, yaw:-12.76107132281295, roll:0.9967912462542358\n",
      "嘴巴实时长宽比:1.13 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-5.50112345510213, yaw:-12.960871462911976, roll:1.051135959524049\n",
      "嘴巴实时长宽比:1.14 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.960422017711407, yaw:-10.603326753072432, roll:0.8883995638543116\n",
      "嘴巴实时长宽比:1.09 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.663602434496508, yaw:-9.07146464469925, roll:1.1636413113355255\n",
      "嘴巴实时长宽比:1.07 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.663602434496508, yaw:-9.07146464469925, roll:1.1636413113355255\n",
      "嘴巴实时长宽比:1.07 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-6.349205263942223, yaw:-7.494311110129297, roll:1.1367153680258453\n",
      "嘴巴实时长宽比:0.97 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-6.984130153412975, yaw:-1.9609565508339002, roll:1.6419039226127425\n",
      "嘴巴实时长宽比:0.84 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-8.645118364663146, yaw:2.050875650025405, roll:2.4628447013208974\n",
      "嘴巴实时长宽比:0.70 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-8.645118364663146, yaw:2.050875650025405, roll:2.4628447013208974\n",
      "嘴巴实时长宽比:0.70 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-8.08002526259388, yaw:3.34390309211946, roll:2.881057536332986\n",
      "嘴巴实时长宽比:0.54 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.376749425322009, yaw:4.263382947987086, roll:3.2092685633629583\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.319841978458317, yaw:4.559469715465393, roll:3.1845094614761478\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.517838449413399, yaw:5.175133690754267, roll:2.9653925196139115\n",
      "嘴巴实时长宽比:0.38 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.789882916429649, yaw:5.131444574180914, roll:3.1088333768042515\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.789882916429649, yaw:5.131444574180914, roll:3.1088333768042515\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.890417663774289, yaw:4.167822003897938, roll:2.964062993631423\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-3.535524160245147, yaw:4.3437879754740285, roll:2.8394506116171745\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.08385854363444, yaw:4.710831044520424, roll:3.1492075287790744\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.08385854363444, yaw:4.710831044520424, roll:3.1492075287790744\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.732348219635997, yaw:4.853501997542639, roll:3.130047856364414\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-3.987194410063045, yaw:3.3983852127205054, roll:3.0670737033798705\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.5167989355616145, yaw:5.006619914396952, roll:3.195598241607912\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.5167989355616145, yaw:5.006619914396952, roll:3.195598241607912\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.005038852370535, yaw:4.588587076553644, roll:3.0293006308259742\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.1844498347029475, yaw:4.4802600853677, roll:2.9148077493517484\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.1061943543230655, yaw:4.7017890352064935, roll:3.0736484945973572\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.166015141490985, yaw:3.0986026779717033, roll:3.0974745311576966\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.277897817604188, yaw:-1.3137705578941405, roll:2.4238240589726674\n",
      "嘴巴实时长宽比:0.74 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.277897817604188, yaw:-1.3137705578941405, roll:2.4238240589726674\n",
      "嘴巴实时长宽比:0.74 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-3.7016589270694933, yaw:-7.132176869717576, roll:1.8256217510270656\n",
      "嘴巴实时长宽比:0.90 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-3.619999602191194, yaw:-11.223920307347052, roll:1.7766024923044985\n",
      "嘴巴实时长宽比:0.96 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.2481260026615235, yaw:-10.873988358224622, roll:1.3748272793776304\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.2481260026615235, yaw:-10.873988358224622, roll:1.3748272793776304\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.176109267056329, yaw:-12.09278541417893, roll:0.9298060837147689\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.233060906820128, yaw:-13.313740917791701, roll:0.9086418624612778\n",
      "嘴巴实时长宽比:1.06 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:-3.598552184911787, yaw:-14.469962564407796, roll:1.01698823800334\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-3.598552184911787, yaw:-14.469962564407796, roll:1.01698823800334\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.135662819006498, yaw:-12.693504520714548, roll:0.522424323994639\n",
      "嘴巴实时长宽比:1.04 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.190990090809637, yaw:-12.897279916730994, roll:0.6251495770629498\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.190990090809637, yaw:-12.897279916730994, roll:0.6251495770629498\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.025585705023533, yaw:-12.502305281914014, roll:0.7207543405603282\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.306235668380747, yaw:-12.354476799551641, roll:0.504946399591504\n",
      "嘴巴实时长宽比:1.04 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.882830143719919, yaw:-11.145072660366216, roll:0.593553345318616\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.293887662268536, yaw:-11.842564650049887, roll:0.7102091647710166\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.293887662268536, yaw:-11.842564650049887, roll:0.7102091647710166\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.457908554491684, yaw:-11.787321047243218, roll:0.7206771967419482\n",
      "嘴巴实时长宽比:1.00 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.8390836578137835, yaw:-10.173288175096584, roll:0.7923750339091803\n",
      "嘴巴实时长宽比:0.98 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.2698193935583575, yaw:-10.974120649102145, roll:0.8525807687364164\n",
      "嘴巴实时长宽比:0.96 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.2698193935583575, yaw:-10.974120649102145, roll:0.8525807687364164\n",
      "嘴巴实时长宽比:0.96 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-6.119690365129121, yaw:-5.163334280735002, roll:1.3696518710973988\n",
      "嘴巴实时长宽比:0.80 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-7.851061657724556, yaw:-1.3477892116549945, roll:2.3458684255187565\n",
      "嘴巴实时长宽比:0.70 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-8.804947808917401, yaw:3.4073581398640567, roll:2.7826569127390814\n",
      "嘴巴实时长宽比:0.52 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-8.003630883360469, yaw:3.318919810633698, roll:3.593983412871753\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-8.003630883360469, yaw:3.318919810633698, roll:3.593983412871753\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.535978987300799, yaw:4.222278155941197, roll:3.687948396319553\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.269609691361874, yaw:4.80523410729821, roll:3.3208299221472384\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.090522777557355, yaw:5.7309884587742985, roll:3.736102382390066\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.090522777557355, yaw:5.7309884587742985, roll:3.736102382390066\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.201115401148759, yaw:5.300357421263524, roll:3.6878433784566864\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.201115401148759, yaw:5.300357421263524, roll:3.6878433784566864\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.475791023957096, yaw:5.716467498529823, roll:3.4553689574072024\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.789577357674412, yaw:6.007424620500078, roll:3.8929526859978276\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.717547088579865, yaw:5.6125207712439575, roll:3.893114756643868\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.717547088579865, yaw:5.6125207712439575, roll:3.893114756643868\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.568065990457678, yaw:4.643632890363111, roll:3.482168827056693\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.017638842400773, yaw:5.169202103934221, roll:3.7990306504814346\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.017638842400773, yaw:5.169202103934221, roll:3.7990306504814346\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.4694044977236045, yaw:4.608077377171751, roll:3.691402450044006\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-6.035933873919062, yaw:5.900062467036275, roll:3.322954754619544\n",
      "嘴巴实时长宽比:0.61 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.035933873919062, yaw:5.900062467036275, roll:3.322954754619544\n",
      "嘴巴实时长宽比:0.61 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.7946105584466165, yaw:-0.7739136793248598, roll:2.526030324741741\n",
      "嘴巴实时长宽比:0.81 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.040587003935317, yaw:-7.279650926623076, roll:2.1344356580114945\n",
      "嘴巴实时长宽比:0.89 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-3.6715770866054025, yaw:-8.731426757937871, roll:1.906731113900662\n",
      "嘴巴实时长宽比:0.99 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-3.6715770866054025, yaw:-8.731426757937871, roll:1.906731113900662\n",
      "嘴巴实时长宽比:0.99 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.487610229526082, yaw:-11.974726375228341, roll:1.4688547829325707\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.7113024481195036, yaw:-13.297548876637329, roll:1.6606894789469522\n",
      "嘴巴实时长宽比:1.09 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-3.7113024481195036, yaw:-13.297548876637329, roll:1.6606894789469522\n",
      "嘴巴实时长宽比:1.09 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-3.975392442095961, yaw:-12.674495089374068, roll:1.2369439014093522\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.110581073649156, yaw:-13.06288770685328, roll:1.1186843989025201\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-3.900702593754029, yaw:-12.757664123356593, roll:0.8911812844510093\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:-3.900702593754029, yaw:-12.757664123356593, roll:0.8911812844510093\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:-4.99059463960157, yaw:-11.109982962395327, roll:0.921378767517526\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.918150634969782, yaw:-12.733176884792123, roll:1.042674754545245\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.918150634969782, yaw:-12.733176884792123, roll:1.042674754545245\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.908536158228902, yaw:-12.991345978008532, roll:0.7586202395808233\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.364395440984466, yaw:-11.39870175139428, roll:0.9879018559234222\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.03227573137466, yaw:-12.197383568440426, roll:0.6245748160359121\n",
      "嘴巴实时长宽比:1.01 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.60036130797994, yaw:-8.777054421078205, roll:0.7509495876749896\n",
      "嘴巴实时长宽比:0.89 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-4.60036130797994, yaw:-8.777054421078205, roll:0.7509495876749896\n",
      "嘴巴实时长宽比:0.89 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-8.046790618880184, yaw:1.8681351760780163, roll:1.6526975239673145\n",
      "嘴巴实时长宽比:0.67 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.14 \t是否眨眼：True\n",
      "pitch:-8.442958709305715, yaw:4.742036771715505, roll:3.2322288677443063\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.12 \t是否眨眼：True\n",
      "pitch:-8.044320186987946, yaw:5.13478887700217, roll:3.67343834609525\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-7.092626029764276, yaw:5.83464055026255, roll:3.9395537534318343\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:-5.740081159940624, yaw:5.107378416917209, roll:3.9733481841998732\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.740081159940624, yaw:5.107378416917209, roll:3.9733481841998732\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-6.689108019674759, yaw:5.196182746301686, roll:3.8896168768457695\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.347082971577584, yaw:5.739830695480805, roll:4.003837593934481\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.568041021669554, yaw:6.039284622533933, roll:3.941313671296203\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.649552560704217, yaw:6.408025240110015, roll:3.85427261547936\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.649552560704217, yaw:6.408025240110015, roll:3.85427261547936\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.435477621445928, yaw:6.016876392424213, roll:3.900616281754997\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.748279037065154, yaw:5.626697876060101, roll:3.7607830277281398\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.029656338954318, yaw:5.830039821517649, roll:3.4952125322402883\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.755423868974168, yaw:6.616510231063176, roll:3.9168855427888043\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-6.755423868974168, yaw:6.616510231063176, roll:3.9168855427888043\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-6.413947957654311, yaw:6.522383552069853, roll:3.7612214615443285\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.15 \t是否眨眼：True\n",
      "pitch:-6.191067574091518, yaw:6.477806680471863, roll:3.690660970928425\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-5.6801307803310515, yaw:6.360454222707329, roll:3.9527541223278413\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-4.483269478203435, yaw:5.71549047888902, roll:3.7444336786004877\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-4.483269478203435, yaw:5.71549047888902, roll:3.7444336786004877\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.204598061208428, yaw:5.149189841454472, roll:3.2736057504003204\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.204598061208428, yaw:5.149189841454472, roll:3.2736057504003204\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.981190241125779, yaw:5.039747995795553, roll:3.4809207318265636\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.763336450825739, yaw:5.937223205820321, roll:3.5888910593616843\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.763336450825739, yaw:5.937223205820321, roll:3.5888910593616843\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.955254846823274, yaw:4.718542310448638, roll:3.4455467065500383\n",
      "嘴巴实时长宽比:0.61 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.232408993447694, yaw:5.186924620341385, roll:3.074403822739364\n",
      "嘴巴实时长宽比:0.72 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.209103988897584, yaw:-2.228555920425713, roll:2.725333611674928\n",
      "嘴巴实时长宽比:0.84 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.209103988897584, yaw:-2.228555920425713, roll:2.725333611674928\n",
      "嘴巴实时长宽比:0.84 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-4.328965047638194, yaw:-8.478627558104277, roll:2.0886369020254754\n",
      "嘴巴实时长宽比:0.94 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-4.54966698086246, yaw:-10.845694079759975, roll:1.7087293081990451\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.06125196897656, yaw:-8.951224321720817, roll:1.5537769429024857\n",
      "嘴巴实时长宽比:0.99 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.811645695673347, yaw:-11.542742361299116, roll:1.2174774412430136\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.811645695673347, yaw:-11.542742361299116, roll:1.2174774412430136\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.529954066661751, yaw:-9.578893249321313, roll:1.0801229671491035\n",
      "嘴巴实时长宽比:1.04 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.560001029348775, yaw:-11.016932122756184, roll:1.3718292558673586\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.673154519907611, yaw:-12.348876189081862, roll:1.4555105843607496\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.673154519907611, yaw:-12.348876189081862, roll:1.4555105843607496\n",
      "嘴巴实时长宽比:1.05 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.065127190835001, yaw:-12.23306336143205, roll:1.2082154168328123\n",
      "嘴巴实时长宽比:1.08 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.304954219231618, yaw:-12.593443171402011, roll:1.1022585825233002\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.409625891639624, yaw:-11.120638856045607, roll:1.2348279686576695\n",
      "嘴巴实时长宽比:1.03 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pitch:-5.289428874348175, yaw:-11.073919112197892, roll:1.4637883672651986\n",
      "嘴巴实时长宽比:1.01 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.289428874348175, yaw:-11.073919112197892, roll:1.4637883672651986\n",
      "嘴巴实时长宽比:1.01 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.371467511127169, yaw:-11.77174759132627, roll:1.4132614373871442\n",
      "嘴巴实时长宽比:1.02 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.812610601817009, yaw:-7.702752669855081, roll:1.5643640322339651\n",
      "嘴巴实时长宽比:0.95 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.8774805485627395, yaw:-2.6040845788018596, roll:1.8071732249238122\n",
      "嘴巴实时长宽比:0.79 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-5.8774805485627395, yaw:-2.6040845788018596, roll:1.8071732249238122\n",
      "嘴巴实时长宽比:0.79 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:-6.53408738148266, yaw:6.220488171323825, roll:3.0114566383083394\n",
      "嘴巴实时长宽比:0.71 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.2051613243252906, yaw:4.586036292283875, roll:3.4223021827073326\n",
      "嘴巴实时长宽比:0.59 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.716896119289712, yaw:5.366312761677668, roll:3.3444164294694274\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：True\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.6390434667331855, yaw:5.255455856158038, roll:3.7337066313899143\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.6390434667331855, yaw:5.255455856158038, roll:3.7337066313899143\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.2273467613935, yaw:6.4466282768688865, roll:3.9087688734054304\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.2273467613935, yaw:6.4466282768688865, roll:3.9087688734054304\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.179895950167694, yaw:6.46728326726786, roll:3.914173982497081\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.57854856110106, yaw:5.581321841841358, roll:3.982136679269118\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.3970878077455895, yaw:5.818945501275249, roll:3.673932579398383\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.3970878077455895, yaw:5.818945501275249, roll:3.673932579398383\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-7.606138670837675, yaw:5.332993556146771, roll:3.735800041470329\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.760049794976775, yaw:5.220359524808486, roll:3.680679167067016\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.781839991900672, yaw:5.955154757997208, roll:3.953225122656409\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.781839991900672, yaw:5.955154757997208, roll:3.953225122656409\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-8.603036067914202, yaw:4.945353045129315, roll:3.788342819683087\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.702269806456551, yaw:5.815239697854486, roll:3.809520286783135\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.702269806456551, yaw:5.815239697854486, roll:3.809520286783135\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.988155306030515, yaw:5.526350192400137, roll:3.882952930151709\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.819346019510387, yaw:6.846891588411161, roll:3.7709838624054792\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.964345296342089, yaw:7.086039586284239, roll:3.6451951342111752\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.964345296342089, yaw:7.086039586284239, roll:3.6451951342111752\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-7.674390880804253, yaw:6.094421213185117, roll:3.2195547891166267\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.76691647989769, yaw:6.832165341388569, roll:3.588616377336701\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.76691647989769, yaw:6.832165341388569, roll:3.588616377336701\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-7.224454471654688, yaw:6.405636051194605, roll:3.5508977343205506\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-9.132723689783667, yaw:5.650458403109315, roll:3.704453800970589\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.15 \t是否眨眼：True\n",
      "pitch:-9.132723689783667, yaw:5.650458403109315, roll:3.704453800970589\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.15 \t是否眨眼：True\n",
      "pitch:-7.846022739111578, yaw:5.238217918749986, roll:3.9647492894026435\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-6.223106394932517, yaw:5.884262729934256, roll:4.36645807607465\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-6.223106394932517, yaw:5.884262729934256, roll:4.36645807607465\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-7.34514740257277, yaw:5.535913959379536, roll:4.059123285385512\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.22 \t是否眨眼：False\n",
      "pitch:-8.791242779496564, yaw:5.154065415376506, roll:3.9666117412446553\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-7.859791428497782, yaw:5.19328780408084, roll:3.861618530259406\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-7.859791428497782, yaw:5.19328780408084, roll:3.861618530259406\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-7.53041780950499, yaw:5.608920702220255, roll:4.301940252558056\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-7.6341550799758195, yaw:6.040881964216724, roll:4.348102559901426\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-7.6341550799758195, yaw:6.040881964216724, roll:4.348102559901426\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-6.756715369175026, yaw:5.708893370195002, roll:4.160824671698114\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：False\n",
      "pitch:-4.388974507149955, yaw:5.334593922211327, roll:4.564259717387473\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.14 \t是否眨眼：True\n",
      "pitch:-5.854130122149972, yaw:6.424367220873398, roll:4.501450886292\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-5.854130122149972, yaw:6.424367220873398, roll:4.501450886292\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-5.492310783976286, yaw:4.619446320703028, roll:4.156047133221253\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.938112804417928, yaw:5.110209950455272, roll:4.394339198974736\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.930618595287677, yaw:4.740489111304009, roll:4.068129685924003\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.930618595287677, yaw:4.740489111304009, roll:4.068129685924003\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-4.738188759915798, yaw:3.824061571063641, roll:4.1317702347713645\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.7926305854323275, yaw:4.644258663667524, roll:4.496502128502462\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.1998835092309745, yaw:4.37651476153694, roll:4.0842233115440125\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.1998835092309745, yaw:4.37651476153694, roll:4.0842233115440125\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-4.702206827071342, yaw:4.578561502700284, roll:4.107751103017855\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.034653097787936, yaw:4.378462100681402, roll:3.9278761090220162\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.034653097787936, yaw:4.378462100681402, roll:3.9278761090220162\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.805508433781694, yaw:4.816385625705947, roll:4.751205893196403\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.1634952679086705, yaw:3.418989594501087, roll:4.527873262924681\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.010238804721143, yaw:1.6209091753939595, roll:4.236639164517281\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.740546068371044, yaw:1.7242980980869114, roll:3.9645410695134418\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.740546068371044, yaw:1.7242980980869114, roll:3.9645410695134418\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.435343065752749, yaw:2.372546553811721, roll:3.8165561904299383\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-5.83319033559585, yaw:2.513790785723756, roll:3.9328281044024496\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.25228994754322, yaw:3.1082447152493, roll:3.5933994331672605\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.25228994754322, yaw:3.1082447152493, roll:3.5933994331672605\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.5403057365214545, yaw:2.703376391814337, roll:3.633888550395393\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.093396963583421, yaw:3.3369402427029344, roll:3.5738450573465417\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.31888201853639, yaw:3.3964659305082145, roll:3.91237431600359\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.479292356623407, yaw:3.263266039609237, roll:3.3189295451879692\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.479292356623407, yaw:3.263266039609237, roll:3.3189295451879692\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.141235782100788, yaw:3.7022326478596037, roll:3.697247693542723\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.483378783371213, yaw:3.0438623597504235, roll:3.6893350398700075\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.483378783371213, yaw:3.0438623597504235, roll:3.6893350398700075\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.460192864103596, yaw:4.11852358618685, roll:4.381567100116519\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.070979442444713, yaw:4.616062035333559, roll:2.4655037602410914\n",
      "嘴巴实时长宽比:0.39 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-8.216658658276824, yaw:2.5888181338393164, roll:3.018603684194203\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-3.2823050199253556, yaw:4.299718531761686, roll:4.104325789181952\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-4.27172321572411, yaw:4.3441609191501, roll:4.972634583780663\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.27172321572411, yaw:4.3441609191501, roll:4.972634583780663\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.1548774230665, yaw:3.60393171257782, roll:4.9929618348110445\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-4.239562858628222, yaw:2.854804600428707, roll:4.555127808817033\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-3.435063540067709, yaw:3.0853931117339015, roll:4.773823686636587\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-3.435063540067709, yaw:3.0853931117339015, roll:4.773823686636587\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.199724119881856, yaw:5.087099173557486, roll:4.736100441076867\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.178662060633303, yaw:4.0475211521046015, roll:4.455984291020749\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-1.917729503276206, yaw:4.090100087340079, roll:4.016091868731838\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-3.38351986977101, yaw:4.998966074973809, roll:3.9608918630293433\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.38351986977101, yaw:4.998966074973809, roll:3.9608918630293433\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-3.2071279287292884, yaw:3.532426932580535, roll:4.111715818228578\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-2.277885971647435, yaw:3.614450619418725, roll:3.8480354272894934\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-4.2509686117292205, yaw:2.6384654602983804, roll:3.636516448610325\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.2509686117292205, yaw:2.6384654602983804, roll:3.636516448610325\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.513382030155769, yaw:3.1165960592048116, roll:2.837445569065034\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.12 \t是否眨眼：True\n",
      "pitch:-5.043519071801251, yaw:1.5452407483039987, roll:2.9956137478541605\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.12 \t是否眨眼：True\n",
      "pitch:-4.373885074286087, yaw:1.5624728090664124, roll:2.7159568367184517\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.42955553338499, yaw:1.338169715133263, roll:2.9295977845290233\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.42955553338499, yaw:1.338169715133263, roll:2.9295977845290233\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-3.9681920513204068, yaw:0.5290848072329579, roll:3.1474817477037376\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：False\n",
      "pitch:-4.635680064886241, yaw:2.539879411716172, roll:3.1419065259880523\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.741623068873233, yaw:2.1266454481967556, roll:3.4441755279710238\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-4.741623068873233, yaw:2.1266454481967556, roll:3.4441755279710238\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-6.442329593350812, yaw:1.0836858609571, roll:3.091472398847961\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-5.705280273330442, yaw:1.2709536292520704, roll:3.2563365836641984\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.16 \t是否眨眼：True\n",
      "pitch:-5.626234613595697, yaw:1.257879856654827, roll:3.0921829079120196\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.16 \t是否眨眼：True\n",
      "pitch:-5.535125454489929, yaw:0.5741927027121264, roll:3.1925186274677158\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.535125454489929, yaw:0.5741927027121264, roll:3.1925186274677158\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.203161979624312, yaw:1.3569592008908515, roll:3.0504149393348987\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.916919406141213, yaw:0.6172513727028249, roll:3.0033554180894644\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.16 \t是否眨眼：True\n",
      "pitch:-6.320740666200419, yaw:0.8099695882467824, roll:2.954058395099581\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-5.994867463988336, yaw:-0.9041308962150416, roll:2.702067128972353\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.994867463988336, yaw:-0.9041308962150416, roll:2.702067128972353\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.6644453001202235, yaw:3.15601947480514, roll:2.936543882482267\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.673376682458995, yaw:2.2290585209296534, roll:2.655332010329449\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-4.477713639861795, yaw:1.311804586115259, roll:2.530977570568347\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-4.2013008305054935, yaw:1.9080058681677132, roll:2.4869216282936466\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-4.718014640411764, yaw:1.1441284612767828, roll:2.56604314050621\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-4.718014640411764, yaw:1.1441284612767828, roll:2.56604314050621\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-4.930430326733803, yaw:1.6265881647133484, roll:2.1310311211738235\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-3.3012343318683217, yaw:1.4618514273307903, roll:2.629397536025757\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.22 \t是否眨眼：False\n",
      "pitch:-3.4360830170445653, yaw:1.225697642153724, roll:2.691249705624564\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-3.4360830170445653, yaw:1.225697642153724, roll:2.691249705624564\n",
      "嘴巴实时长宽比:0.50 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-3.4574664008911116, yaw:0.5586387585235938, roll:2.6387573854411963\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-3.476387235727385, yaw:1.2007658082548742, roll:2.6275433916079125\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-4.257401181028976, yaw:0.9006106634042952, roll:2.756017711844964\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-4.257401181028976, yaw:0.9006106634042952, roll:2.756017711844964\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-5.206985382032862, yaw:1.3099425612302655, roll:2.639866556133181\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-5.3316164024744435, yaw:1.543083884353968, roll:2.4667085800356956\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-5.488369605833711, yaw:1.2273716407272464, roll:2.6025126804555607\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：False\n",
      "pitch:-5.488369605833711, yaw:1.2273716407272464, roll:2.6025126804555607\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：False\n",
      "pitch:-5.751631689530508, yaw:2.7538322988651163, roll:2.4528540613184733\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-4.143466418615041, yaw:0.7874606109999004, roll:2.2589545870978203\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.20 \t是否眨眼：True\n",
      "pitch:-2.3008030508191166, yaw:1.915710830969091, roll:1.4223565255785868\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-3.8892376244072095, yaw:1.149768193049062, roll:1.586962720884944\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-3.6629591983810807, yaw:0.6626476386877542, roll:1.688395235706179\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-2.6407760999281127, yaw:-1.6837405370449143, roll:2.7256391559095\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-2.6407760999281127, yaw:-1.6837405370449143, roll:2.7256391559095\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pitch:-2.1257432230949447, yaw:-4.45686348450669, roll:2.566966374056959\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-2.2725207333961355, yaw:-3.4968355341831954, roll:2.7841436828330863\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-3.7604570938781006, yaw:-0.853227066007444, roll:2.907969890557501\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.21 \t是否眨眼：False\n",
      "pitch:-2.782477022126894, yaw:-0.5141777382613718, roll:2.8706617669951995\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.14 \t是否眨眼：True\n",
      "pitch:-2.6599032477771862, yaw:1.882489323717419, roll:2.431587267988505\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-2.6599032477771862, yaw:1.882489323717419, roll:2.431587267988505\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.18 \t是否眨眼：True\n",
      "pitch:-3.8212595017244024, yaw:1.8861729853335103, roll:3.242400507649001\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-4.321882825679526, yaw:1.3558293249106894, roll:3.603310186442939\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-3.163536060052041, yaw:2.2159490092450556, roll:4.037649141416913\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-3.163536060052041, yaw:2.2159490092450556, roll:4.037649141416913\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:12.239368264187153, yaw:2.777647365883253, roll:2.2631682957973758\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.695816408329005, yaw:2.3905779954383144, roll:2.5717500812530534\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:12.587450430367905, yaw:3.263746477724095, roll:2.8470275809877967\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:10.769012546954114, yaw:2.477378788525373, roll:1.8523858961921797\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.387715539460222, yaw:1.7200704491447332, roll:2.412333089464205\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.319443865498725, yaw:2.115308071460935, roll:1.492263466902653\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pitch:11.667599141651522, yaw:2.8397490414813893, roll:1.332343418627282\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.602184101501617, yaw:2.9302701982959967, roll:1.1437911167294628\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.288637131605661, yaw:2.8447187877105278, roll:1.9385426121290072\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.449924227866399, yaw:1.390935946265687, roll:2.689295989763751\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.585001392741752, yaw:2.8106691335867575, roll:2.549783584315975\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:12.466307974390979, yaw:2.51354466242453, roll:2.467803018516919\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:12.79758974690897, yaw:2.456954438791919, roll:2.4013699431187474\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:11.702170069321097, yaw:2.550063072302235, roll:1.9979715508269396\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:13.083349264780814, yaw:2.1267398980798204, roll:1.6206910145440854\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:14.77282934536893, yaw:2.356489325128788, roll:1.7544184131224165\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.299952700563797, yaw:3.7470624849974405, roll:1.5335683976338892\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:12.466121361325674, yaw:1.8932573428845472, roll:1.8837806602360605\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:11.75073292038199, yaw:1.4802757407276843, roll:2.0738497494576165\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.876735035392247, yaw:3.199569792846323, roll:2.21515260097234\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.395595773452584, yaw:2.815714331293533, roll:2.306498411081194\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.927728728826835, yaw:3.0683057844781483, roll:2.2235829285956736\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.99581904485071, yaw:3.0756304547820656, roll:2.2259407402861844\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.46770067154276, yaw:1.9469480329818178, roll:2.1313151673572754\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.616869360348707, yaw:3.041461998639553, roll:2.180731847145386\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.775131077441024, yaw:3.2176582442368447, roll:2.162387550587383\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:12.10024645918557, yaw:2.156196813176319, roll:2.86918253581867\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.41518550210999, yaw:2.555181556906677, roll:2.7358996487086524\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:12.583654709732304, yaw:2.144329108928892, roll:2.3756397440593546\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.43760400896664, yaw:1.6415997990802866, roll:1.9585252098040602\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.189559149024182, yaw:2.6763156003184343, roll:1.6183190694843481\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.644026108361444, yaw:2.1985675217209395, roll:1.310427365484629\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.720502505062113, yaw:3.8780476159972967, roll:1.4196443440976714\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:20.82697434358001, yaw:5.8917358759280125, roll:1.1996666147939081\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:13.78482261009786, yaw:5.1175279075420566, roll:1.035036752630848\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:13.77873199298557, yaw:4.230848170818281, roll:1.5711791480581725\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:13.539298759234823, yaw:3.960582544550222, roll:1.4318710050352195\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.400180959003283, yaw:2.5161962302374548, roll:2.324604068920359\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.133283601447996, yaw:3.497575206271356, roll:2.539839396970945\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:15.862021445190166, yaw:4.567711815874414, roll:2.645523611066152\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:19.313233513283713, yaw:4.548355385039569, roll:2.8588268887624197\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.459485415164837, yaw:2.9429526388681726, roll:3.3958279436491434\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.489765284921369, yaw:2.6731620945730556, roll:2.7582297075514504\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:13.611430331253386, yaw:3.1722756217619428, roll:2.6726639183927037\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:13.83413108720421, yaw:3.191401308468498, roll:2.2473652202274375\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.301904700292857, yaw:2.8765502875026763, roll:2.7047453984579275\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:12.841730839037146, yaw:3.978030624093424, roll:2.5976183506877306\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:13.91497376821327, yaw:3.155586894364274, roll:3.091528769059184\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:14.868770389207038, yaw:3.925872555208932, roll:2.7975636032390176\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:16.94690332573091, yaw:4.187070664476912, roll:3.079818030467164\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:19.090215849528313, yaw:4.68629385047142, roll:3.5412314212858\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.817895326992698, yaw:4.070039451553587, roll:1.7682668659467553\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.91684503456687, yaw:4.383456361354901, roll:1.4675532488186902\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:13.384123655682364, yaw:4.813819516992359, roll:1.575069212335904\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:17.982351657789902, yaw:5.08957249508731, roll:2.2340603546348206\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:18.360968443526588, yaw:4.985303381612851, roll:2.435232092911945\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.371494230499133, yaw:2.5212216321163257, roll:3.1374568190344463\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:11.55782365407938, yaw:3.0366302073677596, roll:3.437449165369815\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:11.650203485817574, yaw:2.944781609900203, roll:3.0759668644284144\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:9.549379536187766, yaw:2.808533226039678, roll:3.061564145805891\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:12.50973072081725, yaw:3.6784839258140485, roll:3.3631932750087783\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.32693146549038, yaw:5.059794675445461, roll:3.357299097858122\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.104203497311847, yaw:4.363276662006712, roll:3.443480013689288\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.562297850056034, yaw:3.957980437415573, roll:3.441151760271495\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.929595299354704, yaw:3.436745208929419, roll:3.656723528829243\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.410914291164758, yaw:2.730874612979857, roll:3.7345731049071964\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.903902299274353, yaw:4.076042980355035, roll:3.9664300931655516\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.26656615220645, yaw:4.670576361383971, roll:3.8896744563890397\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:17.285014087202164, yaw:6.574287835461907, roll:3.969930432515831\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:18.36908466361312, yaw:7.08561547784575, roll:3.9675652494604554\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.03675922202305, yaw:4.838736020595933, roll:2.8110548501439885\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:16.1799213665829, yaw:6.077641875500236, roll:2.8965312182195473\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.140750619323493, yaw:2.888229192942154, roll:3.2262474548773508\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.166142666560201, yaw:3.2133497479243647, roll:3.278094485366555\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:9.777303324456764, yaw:2.990977435344798, roll:2.952822573246519\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.247894591817019, yaw:3.857154264442579, roll:2.76686339846296\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:9.711457280062502, yaw:3.602036891493121, roll:2.8045994897201445\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:13.52991154118381, yaw:4.9018309522972165, roll:2.7349026929402873\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:16.073172838264806, yaw:4.864398016897184, roll:2.97891577292251\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.553462592644097, yaw:2.519785091589576, roll:3.3926108957800007\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.654816701390759, yaw:2.688198097674498, roll:3.6694468995845555\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:13.33942707490117, yaw:2.507220204254384, roll:3.5990451676362865\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.22093581520746, yaw:1.0682061206428684, roll:4.499897001899856\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.222835498994007, yaw:2.009303884537023, roll:4.352891932890384\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:13.885649491766422, yaw:2.4458373235376087, roll:5.133606955242735\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.454193347235686, yaw:1.4154730269675875, roll:4.863985382776155\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.708221638497387, yaw:0.8767204274355684, roll:5.35536923460145\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.26 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:11.786012489375226, yaw:2.336640864007481, roll:5.162845048635858\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:13.615438303269062, yaw:2.459829053254129, roll:4.5262295165936415\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:15.554160527187197, yaw:3.0346026000663406, roll:4.638498656433483\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:17.27083852920556, yaw:3.0234879682055795, roll:4.917593498287221\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:15.53897520496494, yaw:2.6117146506691475, roll:4.650287428189531\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.556985122687161, yaw:2.38752951652238, roll:4.736357084486346\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.276954930776201, yaw:1.6495118467468946, roll:4.908255555819886\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.766507133261769, yaw:1.3272885008847075, roll:5.050601412065876\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.14990248209822, yaw:1.7126777176237524, roll:4.734887591041792\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.337621081263578, yaw:1.3043012127533355, roll:4.702839369554786\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.865463674847588, yaw:2.6833172349122925, roll:5.266030595197689\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.819335537749504, yaw:2.1446933005643074, roll:4.88033948208241\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:11.09745510014676, yaw:1.9214291335904603, roll:4.733344138923343\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.822740446828806, yaw:1.2445162888858652, roll:4.874121342345225\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.136532381498256, yaw:0.8206261529532755, roll:5.154205218365592\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.90261181675338, yaw:0.8190753901998867, roll:5.041828597162038\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:10.619541308107781, yaw:1.753715329404976, roll:4.592640348248779\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.929714054364172, yaw:2.0749659466994097, roll:4.869235169672665\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.207758551701803, yaw:1.4200058434949177, roll:5.0338210390138824\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.130682805665296, yaw:1.8611154401904724, roll:4.818325425038155\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.141752335112406, yaw:2.0380370038735376, roll:4.95803108500853\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:10.991061012450938, yaw:2.507457271082218, roll:4.747704072148714\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:9.763934775524639, yaw:0.9465586185130699, roll:4.741235581484616\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.468004105044756, yaw:1.9550178549864499, roll:4.820295146435912\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.38 \t是否眨眼：False\n",
      "pitch:9.395776117263448, yaw:0.9083355061424406, roll:4.805907084284246\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.445929619314116, yaw:1.7182826713645882, roll:4.676562322061837\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:9.56344580162065, yaw:3.1992319600435724, roll:4.548002779684863\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.638185330674524, yaw:3.038066562944479, roll:4.473840492105493\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:12.392982019107762, yaw:3.23928622554842, roll:4.598666740420992\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:12.096619675887771, yaw:2.2397585419976327, roll:4.838012314339698\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:10.330677771352939, yaw:1.880419479692193, roll:4.62051297355079\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:10.330564249413838, yaw:2.713304402541616, roll:4.7140213381763365\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:11.222501537650267, yaw:2.851101565896719, roll:4.33731905801996\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:11.171282337234816, yaw:3.294852489094487, roll:3.4381676635302694\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.571318821429678, yaw:2.553118932656111, roll:2.6239408162358493\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:11.037894462132876, yaw:1.8183707864832754, roll:0.7402361482811416\n",
      "嘴巴实时长宽比:0.28 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:11.630075107377733, yaw:2.9901097922762303, roll:0.36821436228369814\n",
      "嘴巴实时长宽比:0.27 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.58549648750217, yaw:3.3085211249914637, roll:0.24024726430430507\n",
      "嘴巴实时长宽比:0.29 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:12.557291431800747, yaw:4.32721877114541, roll:-0.5889576158728204\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.30 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.37 \t是否眨眼：False\n",
      "pitch:1.8521464068275841, yaw:1.119071365105067, roll:4.497182188989733\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:1.9861580254623448, yaw:-3.6645948621339763, roll:4.546271953491689\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:0.9242882113812868, yaw:1.511788157474865, roll:4.075046757876162\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:-0.6671640045696996, yaw:14.918287741529422, roll:5.150815750702391\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.08223586108930751, yaw:11.03946460042445, roll:5.084170964605559\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.6070222183632183, yaw:7.0391954427729075, roll:4.842395774183222\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-0.32307677227590825, yaw:11.637572451646088, roll:5.264456252595368\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-0.49173240050118644, yaw:14.10768842033635, roll:4.5108294790502\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.25626909828301336, yaw:14.446294222450456, roll:3.696190946030836\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:0.3646633780732445, yaw:13.78078962974834, roll:3.5648317474588147\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-0.42607487573383385, yaw:9.723801272296843, roll:4.188029447090723\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:0.5521094125761049, yaw:-2.8191437901881087, roll:2.4942341224726996\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.9388931508968732, yaw:-0.3655785379434609, roll:2.0459518346285934\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.40 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.32238388062254625, yaw:20.106636842354796, roll:3.413177086004107\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.32466022519159726, yaw:10.855356167227106, roll:3.2062830490908043\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:0.34947490297621925, yaw:1.9361017266788045, roll:2.4097430370474404\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.4015704556557439, yaw:13.81290975913321, roll:3.8932550421704017\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:0.43872452034543014, yaw:-1.192257145575389, roll:2.7238220063154093\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.3055621793946331, yaw:21.841582128496118, roll:3.3611201770864634\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-0.18395033498149618, yaw:-0.09563909550808224, roll:3.1638520850724774\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:-0.16450870691571728, yaw:3.539336347579536, roll:3.004397803606102\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-0.3199536629391127, yaw:6.133226573263761, roll:3.1145972046146735\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.6661693399641521, yaw:23.97976807900009, roll:3.518398319370392\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-0.752541869674069, yaw:12.868531900630858, roll:2.9737559570242813\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:0.4493086184256177, yaw:22.304632965295994, roll:3.2731131010914205\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.24503689484195906, yaw:16.71528265818119, roll:3.219253863707137\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:0.796436276773308, yaw:21.182323993564832, roll:2.9959052549704817\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-0.4881671719372234, yaw:15.565857439693685, roll:3.312308905659151\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:0.03612321867999968, yaw:20.28039675297867, roll:4.282510211979392\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:0.26999491150900656, yaw:22.747975519608126, roll:4.14512909671702\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-0.2038896811048498, yaw:14.415182899394395, roll:3.885447243588023\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:0.3372672885030275, yaw:0.3622776212223867, roll:3.21371581517684\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:0.0003415756195499971, yaw:22.899591990735885, roll:3.341739859637488\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:0.10141822649172708, yaw:25.171567343379305, roll:3.486221870866978\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.14301681561754567, yaw:21.740156478003605, roll:3.913958845006259\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:0.34412501146876534, yaw:21.7893692077227, roll:3.5471425676235144\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.27 \t是否眨眼：False\n",
      "pitch:1.464746951656312, yaw:6.73873026867751, roll:5.489187493683158\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-0.6766489818499484, yaw:19.21981000639368, roll:5.963344616933307\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-0.19765078430833685, yaw:5.269847908082691, roll:7.223189645634666\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-0.7183952140186032, yaw:4.1894861247755175, roll:7.3351957515849575\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:0.32748576209700836, yaw:4.721928846922879, roll:7.244970347703731\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-1.485300783886886, yaw:4.899489867292383, roll:8.466685671690874\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-2.022713366091373, yaw:2.8328769322047056, roll:8.032612035466904\n",
      "嘴巴实时长宽比:0.41 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-1.0627111017212918, yaw:2.4879178300506553, roll:8.666242273606446\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-3.3153149909120105, yaw:1.058932668439926, roll:8.353542247303624\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-4.077166389048847, yaw:1.7897230705879923, roll:8.84300849011446\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.22 \t是否眨眼：False\n",
      "pitch:-5.7567501243108525, yaw:-0.35753563421246726, roll:8.371121575495232\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.19 \t是否眨眼：True\n",
      "pitch:-5.103607515159774, yaw:-0.02375996725866529, roll:8.608539856654156\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-4.562644099364954, yaw:-0.3769273564494038, roll:9.033430700708264\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-4.664754556462973, yaw:-0.9411035144074965, roll:8.911779627345792\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.790447853852005, yaw:-0.9546213867708756, roll:9.32697796875395\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.764857427595767, yaw:-0.5220520243432666, roll:9.81629674841038\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.764857427595767, yaw:-0.5220520243432666, roll:9.81629674841038\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-4.817291783756198, yaw:-0.795827837421423, roll:9.75644178691052\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.0219299613019865, yaw:-1.9523156796336563, roll:10.156086022270948\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.4062081813885134, yaw:-1.3539566628486825, roll:10.918311110620753\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.9250337877919454, yaw:-1.838679124428236, roll:10.7326217964487\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-5.806104875721338, yaw:-2.1898229584886497, roll:11.382446159429968\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.741185929662962, yaw:-1.6704829264632333, roll:11.847752661353065\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.741185929662962, yaw:-1.6704829264632333, roll:11.847752661353065\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pitch:-6.06424233255625, yaw:-0.496184074710685, roll:11.947421628189225\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.787737100590489, yaw:-0.8018382248998328, roll:11.844743297470549\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.35648095822131, yaw:-0.5642456099322397, roll:11.817948422820965\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.479920675679233, yaw:-0.4653772901933706, roll:11.58063116164624\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.479920675679233, yaw:-0.4653772901933706, roll:11.58063116164624\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.082688460152064, yaw:-0.41046005409779673, roll:11.974842997377248\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.1095416554661615, yaw:-2.211663088592992, roll:11.321032514501324\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.955356079932244, yaw:-0.36737157957613387, roll:11.679033645241109\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.079721095840287, yaw:-0.49021099991239614, roll:11.461118351359922\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.079721095840287, yaw:-0.49021099991239614, roll:11.461118351359922\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.670743437755364, yaw:-0.9665120327592832, roll:11.109764712089634\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.763768639070292, yaw:-1.243252055602258, roll:11.551078010208892\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.1949032126093595, yaw:-1.2387163815249007, roll:11.130516249387837\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.1949032126093595, yaw:-1.2387163815249007, roll:11.130516249387837\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.130990681619399, yaw:-0.7677449431329907, roll:11.035084903041904\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-7.267148190202924, yaw:-1.2389374927670742, roll:10.620202661422985\n",
      "嘴巴实时长宽比:0.42 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-6.481183351370704, yaw:-0.48100955695329073, roll:10.862302697542487\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.481183351370704, yaw:-0.48100955695329073, roll:10.862302697542487\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.8996955716687545, yaw:-1.7151249338796213, roll:10.63822349723011\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.111311222625373, yaw:-1.5291685997837516, roll:10.548492430238399\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.984093608545399, yaw:-0.9142342020033911, roll:10.829119447844489\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.467329561358683, yaw:-1.6026568593616777, roll:10.510549231574352\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.467329561358683, yaw:-1.6026568593616777, roll:10.510549231574352\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-6.924344981254825, yaw:-0.9509822165001887, roll:10.600128832163815\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-7.027278780803244, yaw:-0.6735710533805733, roll:10.851355470800508\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-7.027278780803244, yaw:-0.6735710533805733, roll:10.851355470800508\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-5.743633227748297, yaw:-1.7285330742544571, roll:10.838229087895957\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.666295092419757, yaw:-1.5966280746554373, roll:10.728267531444276\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.666295092419757, yaw:-1.5966280746554373, roll:10.728267531444276\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.623309782229164, yaw:-1.727669449053567, roll:10.435324774892608\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-6.623309782229164, yaw:-1.727669449053567, roll:10.435324774892608\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-6.320640881771615, yaw:-1.5303153764008504, roll:10.316218927037266\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.320640881771615, yaw:-1.5303153764008504, roll:10.316218927037266\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.34 \t是否眨眼：False\n",
      "pitch:-6.155407297921916, yaw:-1.6801628683887897, roll:10.279903919114714\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-6.155407297921916, yaw:-1.6801628683887897, roll:10.279903919114714\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.36 \t是否眨眼：False\n",
      "pitch:-6.006311564333248, yaw:-2.314585488501808, roll:10.104361755683371\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-6.006311564333248, yaw:-2.314585488501808, roll:10.104361755683371\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.32 \t是否眨眼：False\n",
      "pitch:-5.941709893741865, yaw:-2.5451138281736294, roll:9.705925092073603\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.941709893741865, yaw:-2.5451138281736294, roll:9.705925092073603\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-6.580566453429596, yaw:-2.1554981587743622, roll:9.845758296719902\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.018880637385226, yaw:-1.4691689454331232, roll:9.898915942640112\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.018880637385226, yaw:-1.4691689454331232, roll:9.898915942640112\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.02136802432159, yaw:-2.686931280674132, roll:9.64759347212154\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-6.02136802432159, yaw:-2.686931280674132, roll:9.64759347212154\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.35 \t是否眨眼：False\n",
      "pitch:-5.760225449999243, yaw:-0.8679195228031572, roll:9.86664569251054\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.760225449999243, yaw:-0.8679195228031572, roll:9.86664569251054\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-6.430104879478013, yaw:-1.5195246069647899, roll:9.8466024960157\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-6.430104879478013, yaw:-1.5195246069647899, roll:9.8466024960157\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.382665731655775, yaw:-1.6321599967270732, roll:9.637567414822575\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.382665731655775, yaw:-1.6321599967270732, roll:9.637567414822575\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.766445865754431, yaw:-1.8890775444795402, roll:9.426740173799388\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.766445865754431, yaw:-1.8890775444795402, roll:9.426740173799388\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.33 \t是否眨眼：False\n",
      "pitch:-5.4840329855984, yaw:-1.0440777962087215, roll:9.511151942660277\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-5.4840329855984, yaw:-1.0440777962087215, roll:9.511151942660277\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.31 \t是否眨眼：False\n",
      "pitch:-7.55755438615423, yaw:-3.382355478287317, roll:8.937405146927556\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-7.55755438615423, yaw:-3.382355478287317, roll:8.937405146927556\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.17 \t是否眨眼：True\n",
      "pitch:-6.474674688898707, yaw:-1.533787842363056, roll:9.489950766256088\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-6.474674688898707, yaw:-1.533787842363056, roll:9.489950766256088\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-6.680397967823854, yaw:-1.4559222563360914, roll:9.312728972449918\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.26 \t是否眨眼：False\n",
      "pitch:-6.304012104360928, yaw:-1.1316094760421458, roll:9.128858250472572\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.304012104360928, yaw:-1.1316094760421458, roll:9.128858250472572\n",
      "嘴巴实时长宽比:0.43 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.28018734747523, yaw:-1.005186466358967, roll:9.462745743780447\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.28018734747523, yaw:-1.005186466358967, roll:9.462745743780447\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.111388781055059, yaw:-0.4975336616258818, roll:9.340983950304553\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-6.111388781055059, yaw:-0.4975336616258818, roll:9.340983950304553\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-4.410545215076453, yaw:-0.7362467342792053, roll:9.229142190003053\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-4.410545215076453, yaw:-0.7362467342792053, roll:9.229142190003053\n",
      "嘴巴实时长宽比:0.49 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-3.0419094543077816, yaw:-1.1942738934067698, roll:9.207425668322918\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.7036138143745925, yaw:1.63582528125027, roll:8.982710553785711\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-5.210264459818207, yaw:1.4895739914888613, roll:8.77344521864328\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-5.210264459818207, yaw:1.4895739914888613, roll:8.77344521864328\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-6.344730130286309, yaw:1.3568923299524505, roll:9.023177629035214\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.181899612574912, yaw:2.2532862183774123, roll:9.06660036993171\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-5.089009970112675, yaw:0.7319124190237006, roll:8.906444859584408\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-5.348188770645712, yaw:1.347929165618272, roll:8.807804872685566\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.30 \t是否眨眼：False\n",
      "pitch:-4.593648326146274, yaw:0.8989646023026882, roll:8.952487163456\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.29 \t是否眨眼：False\n",
      "pitch:-4.760917727411323, yaw:2.3636643466711154, roll:9.169369704020014\n",
      "嘴巴实时长宽比:0.44 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.28 \t是否眨眼：False\n",
      "pitch:-5.234597225442251, yaw:1.0227156901300343, roll:8.613555146867354\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-5.234597225442251, yaw:1.0227156901300343, roll:8.613555146867354\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-4.871959448892153, yaw:1.3452094201222466, roll:8.785589077789822\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-6.139072421376027, yaw:1.1988253378809668, roll:8.953427141459096\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-6.471171023696999, yaw:1.0453442551341185, roll:8.95337725968589\n",
      "嘴巴实时长宽比:0.46 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-5.413557778813256, yaw:0.5739977783455212, roll:8.979426948655624\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-5.413557778813256, yaw:0.5739977783455212, roll:8.979426948655624\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-5.724821439267839, yaw:1.3297020548287355, roll:9.08813150107879\n",
      "嘴巴实时长宽比:0.48 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.24 \t是否眨眼：False\n",
      "pitch:-5.277625923303347, yaw:1.4492772571016523, roll:9.245460413049285\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-5.631078987772558, yaw:2.8634428252591864, roll:9.428837687355273\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-5.631078987772558, yaw:2.8634428252591864, roll:9.428837687355273\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-6.405233860968585, yaw:0.9754083841432815, roll:9.384573524277027\n",
      "嘴巴实时长宽比:0.47 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.25 \t是否眨眼：False\n",
      "pitch:-6.818250736860751, yaw:1.1624419659228802, roll:9.155440097250603\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.23 \t是否眨眼：False\n",
      "pitch:-7.0921397245058175, yaw:0.3175194561894617, roll:8.946686803371612\n",
      "嘴巴实时长宽比:0.45 \t是否张嘴：False\n",
      "眼睛实时长宽比:0.16 \t是否眨眼：True\n"
     ]
    }
   ],
   "source": [
    "# -*- coding: utf-8 -*-\n",
    "# import the necessary packages\n",
    "from scipy.spatial import distance as dist\n",
    "from imutils.video import FileVideoStream\n",
    "from imutils.video import VideoStream\n",
    "from imutils import face_utils\n",
    "import numpy as np # 数据处理的库 numpy\n",
    "import argparse\n",
    "import imutils\n",
    "import time\n",
    "import dlib\n",
    "import cv2\n",
    "import math\n",
    "import time\n",
    "from threading import Thread,Event\n",
    " \n",
    "# 世界坐标系(UVW)：填写3D参考点，该模型参考http://aifi.isr.uc.pt/Downloads/OpenGL/glAnthropometric3DModel.cpp\n",
    "object_pts = np.float32([[6.825897, 6.760612, 4.402142],  #33左眉左上角\n",
    "                         [1.330353, 7.122144, 6.903745],  #29左眉右角\n",
    "                         [-1.330353, 7.122144, 6.903745], #34右眉左角\n",
    "                         [-6.825897, 6.760612, 4.402142], #38右眉右上角\n",
    "                         [5.311432, 5.485328, 3.987654],  #13左眼左上角\n",
    "                         [1.789930, 5.393625, 4.413414],  #17左眼右上角\n",
    "                         [-1.789930, 5.393625, 4.413414], #25右眼左上角\n",
    "                         [-5.311432, 5.485328, 3.987654], #21右眼右上角\n",
    "                         [2.005628, 1.409845, 6.165652],  #55鼻子左上角\n",
    "                         [-2.005628, 1.409845, 6.165652], #49鼻子右上角\n",
    "                         [2.774015, -2.080775, 5.048531], #43嘴左上角\n",
    "                         [-2.774015, -2.080775, 5.048531],#39嘴右上角\n",
    "                         [0.000000, -3.116408, 6.097667], #45嘴中央下角\n",
    "                         [0.000000, -7.415691, 4.070434]])#6下巴角\n",
    "\n",
    "# 相机坐标系(XYZ)：添加相机内参\n",
    "K = [6.5308391993466671e+002, 0.0, 3.1950000000000000e+002,\n",
    "     0.0, 6.5308391993466671e+002, 2.3950000000000000e+002,\n",
    "     0.0, 0.0, 1.0]# 等价于矩阵[fx, 0, cx; 0, fy, cy; 0, 0, 1]\n",
    "# 图像中心坐标系(uv)：相机畸变参数[k1, k2, p1, p2, k3]\n",
    "D = [7.0834633684407095e-002, 6.9140193737175351e-002, 0.0, 0.0, -1.3073460323689292e+000]\n",
    "\n",
    "# 像素坐标系(xy)：填写凸轮的本征和畸变系数\n",
    "cam_matrix = np.array(K).reshape(3, 3).astype(np.float32)\n",
    "dist_coeffs = np.array(D).reshape(5, 1).astype(np.float32)\n",
    "\n",
    "\n",
    "\n",
    "# 重新投影3D点的世界坐标轴以验证结果姿势\n",
    "reprojectsrc = np.float32([[10.0, 10.0, 10.0],\n",
    "                           [10.0, 10.0, -10.0],\n",
    "                           [10.0, -10.0, -10.0],\n",
    "                           [10.0, -10.0, 10.0],\n",
    "                           [-10.0, 10.0, 10.0],\n",
    "                           [-10.0, 10.0, -10.0],\n",
    "                           [-10.0, -10.0, -10.0],\n",
    "                           [-10.0, -10.0, 10.0]])\n",
    "# 绘制正方体12轴\n",
    "line_pairs = [[0, 1], [1, 2], [2, 3], [3, 0],\n",
    "              [4, 5], [5, 6], [6, 7], [7, 4],\n",
    "              [0, 4], [1, 5], [2, 6], [3, 7]]\n",
    "\n",
    "def get_head_pose(shape):# 头部姿态估计\n",
    "    # （像素坐标集合）填写2D参考点，注释遵循https://ibug.doc.ic.ac.uk/resources/300-W/\n",
    "    # 17左眉左上角/21左眉右角/22右眉左上角/26右眉右上角/36左眼左上角/39左眼右上角/42右眼左上角/\n",
    "    # 45右眼右上角/31鼻子左上角/35鼻子右上角/48左上角/54嘴右上角/57嘴中央下角/8下巴角\n",
    "    image_pts = np.float32([shape[17], shape[21], shape[22], shape[26], shape[36],\n",
    "                            shape[39], shape[42], shape[45], shape[31], shape[35],\n",
    "                            shape[48], shape[54], shape[57], shape[8]])\n",
    "    # solvePnP计算姿势——求解旋转和平移矩阵：\n",
    "    # rotation_vec表示旋转矩阵，translation_vec表示平移矩阵，cam_matrix与K矩阵对应，dist_coeffs与D矩阵对应。\n",
    "    _, rotation_vec, translation_vec = cv2.solvePnP(object_pts, image_pts, cam_matrix, dist_coeffs)\n",
    "    # projectPoints重新投影误差：原2d点和重投影2d点的距离（输入3d点、相机内参、相机畸变、r、t，输出重投影2d点）\n",
    "    reprojectdst, _ = cv2.projectPoints(reprojectsrc, rotation_vec, translation_vec, cam_matrix,dist_coeffs)\n",
    "    reprojectdst = tuple(map(tuple, reprojectdst.reshape(8, 2)))# 以8行2列显示\n",
    "\n",
    "    # 计算欧拉角calc euler angle\n",
    "    # 参考https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#decomposeprojectionmatrix\n",
    "    rotation_mat, _ = cv2.Rodrigues(rotation_vec)#罗德里格斯公式（将旋转矩阵转换为旋转向量）\n",
    "    pose_mat = cv2.hconcat((rotation_mat, translation_vec))# 水平拼接，vconcat垂直拼接\n",
    "    # decomposeProjectionMatrix将投影矩阵分解为旋转矩阵和相机矩阵\n",
    "    _, _, _, _, _, _, euler_angle = cv2.decomposeProjectionMatrix(pose_mat)\n",
    "    \n",
    "    pitch, yaw, roll = [math.radians(_) for _ in euler_angle]\n",
    " \n",
    " \n",
    "    pitch = math.degrees(math.asin(math.sin(pitch)))\n",
    "    roll = -math.degrees(math.asin(math.sin(roll)))\n",
    "    yaw = math.degrees(math.asin(math.sin(yaw)))\n",
    "    print('pitch:{}, yaw:{}, roll:{}'.format(pitch, yaw, roll))\n",
    "\n",
    "    return reprojectdst, euler_angle# 投影误差，欧拉角\n",
    "\n",
    "def eye_aspect_ratio(eye):\n",
    "    # 垂直眼标志（X，Y）坐标\n",
    "    A = dist.euclidean(eye[1], eye[5])# 计算两个集合之间的欧式距离\n",
    "    B = dist.euclidean(eye[2], eye[4])\n",
    "    # 计算水平之间的欧几里得距离\n",
    "    # 水平眼标志（X，Y）坐标\n",
    "    C = dist.euclidean(eye[0], eye[3])\n",
    "    # 眼睛长宽比的计算\n",
    "    ear = (A + B) / (2.0 * C)\n",
    "    # 返回眼睛的长宽比\n",
    "    return ear\n",
    " \n",
    "def mouth_aspect_ratio(mouth):# 嘴部\n",
    "    A = np.linalg.norm(mouth[2] - mouth[9])  # 51, 59\n",
    "    B = np.linalg.norm(mouth[4] - mouth[7])  # 53, 57\n",
    "    C = np.linalg.norm(mouth[0] - mouth[6])  # 49, 55\n",
    "    mar = (A + B) / (2.0 * C)\n",
    "    return mar\n",
    "\n",
    "# 定义常数\n",
    "# 眼睛长宽比\n",
    "# 闪烁阈值\n",
    "EYE_AR_THRESH = 0.2\n",
    "EYE_AR_CONSEC_FRAMES = 3\n",
    "# 打哈欠长宽比\n",
    "# 闪烁阈值\n",
    "MAR_THRESH = 0.5\n",
    "MOUTH_AR_CONSEC_FRAMES = 3\n",
    "# 瞌睡点头\n",
    "HAR_THRESH = 0.3\n",
    "NOD_AR_CONSEC_FRAMES = 3\n",
    "# 初始化帧计数器和眨眼总数\n",
    "COUNTER = 0\n",
    "TOTAL = 0\n",
    "# 初始化帧计数器和打哈欠总数\n",
    "mCOUNTER = 0\n",
    "mTOTAL = 0\n",
    "# 初始化帧计数器和点头总数\n",
    "hCOUNTER = 0\n",
    "hTOTAL = 0\n",
    "\n",
    "# 初始化DLIB的人脸检测器（HOG），然后创建面部标志物预测\n",
    "print(\"[INFO] loading facial landmark predictor...\")\n",
    "# 第一步：使用dlib.get_frontal_face_detector() 获得脸部位置检测器\n",
    "detector = dlib.get_frontal_face_detector()\n",
    "# 第二步：使用dlib.shape_predictor获得脸部特征位置检测器\n",
    "predictor = dlib.shape_predictor('D:/myworkspace/JupyterNotebook/fatigue_detecting/model/shape_predictor_68_face_landmarks.dat')\n",
    " \n",
    "# 第三步：分别获取左右眼面部标志的索引\n",
    "(lStart, lEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"left_eye\"]\n",
    "(rStart, rEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"right_eye\"]\n",
    "(mStart, mEnd) = face_utils.FACIAL_LANDMARKS_IDXS[\"mouth\"]\n",
    "\n",
    "# 第四步：打开cv2 本地摄像头\n",
    "cap = cv2.VideoCapture(0)\n",
    " \n",
    "# 从视频流循环帧\n",
    "while True:\n",
    "    # 第五步：进行循环，读取图片，并对图片做维度扩大，并进灰度化\n",
    "    ret, frame = cap.read()\n",
    "    frame = imutils.resize(frame, width=720)\n",
    "    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)\n",
    "    # 第六步：使用detector(gray, 0) 进行脸部位置检测\n",
    "    rects = detector(gray, 0)\n",
    "    \n",
    "    # 第七步：循环脸部位置信息，使用predictor(gray, rect)获得脸部特征位置的信息\n",
    "    for rect in rects:\n",
    "        shape = predictor(gray, rect)\n",
    "        \n",
    "        # 第八步：将脸部特征信息转换为数组array的格式\n",
    "        shape = face_utils.shape_to_np(shape)\n",
    "        \n",
    "        # 第九步：提取左眼和右眼坐标\n",
    "        leftEye = shape[lStart:lEnd]\n",
    "        rightEye = shape[rStart:rEnd]\n",
    "        # 嘴巴坐标\n",
    "        mouth = shape[mStart:mEnd]        \n",
    "        \n",
    "        # 第十步：构造函数计算左右眼的EAR值，使用平均值作为最终的EAR\n",
    "        leftEAR = eye_aspect_ratio(leftEye)\n",
    "        rightEAR = eye_aspect_ratio(rightEye)\n",
    "        ear = (leftEAR + rightEAR) / 2.0\n",
    "        # 打哈欠\n",
    "        mar = mouth_aspect_ratio(mouth)\n",
    " \n",
    "        # 第十一步：使用cv2.convexHull获得凸包位置，使用drawContours画出轮廓位置进行画图操作\n",
    "        leftEyeHull = cv2.convexHull(leftEye)\n",
    "        rightEyeHull = cv2.convexHull(rightEye)\n",
    "        cv2.drawContours(frame, [leftEyeHull], -1, (0, 255, 0), 1)\n",
    "        cv2.drawContours(frame, [rightEyeHull], -1, (0, 255, 0), 1)\n",
    "        mouthHull = cv2.convexHull(mouth)\n",
    "        cv2.drawContours(frame, [mouthHull], -1, (0, 255, 0), 1)\n",
    " \n",
    "        # 第十二步：进行画图操作，用矩形框标注人脸\n",
    "        left = rect.left()\n",
    "        top = rect.top()\n",
    "        right = rect.right()\n",
    "        bottom = rect.bottom()\n",
    "        cv2.rectangle(frame, (left, top), (right, bottom), (0, 255, 0), 1)    \n",
    " \n",
    "        '''\n",
    "            分别计算左眼和右眼的评分求平均作为最终的评分，如果小于阈值，则加1，如果连续3次都小于阈值，则表示进行了一次眨眼活动\n",
    "        '''\n",
    "        # 第十三步：循环，满足条件的，眨眼次数+1\n",
    "        if ear < EYE_AR_THRESH:# 眼睛长宽比：0.2\n",
    "            COUNTER += 1\n",
    "           \n",
    "        else:\n",
    "            # 如果连续3次都小于阈值，则表示进行了一次眨眼活动\n",
    "            if COUNTER >= EYE_AR_CONSEC_FRAMES:# 阈值：3\n",
    "                TOTAL += 1\n",
    "            # 重置眼帧计数器\n",
    "            COUNTER = 0\n",
    "            \n",
    "        # 第十四步：进行画图操作，同时使用cv2.putText将眨眼次数进行显示\n",
    "        cv2.putText(frame, \"Faces: {}\".format(len(rects)), (10, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)     \n",
    "        cv2.putText(frame, \"COUNTER: {}\".format(COUNTER), (150, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2) \n",
    "        cv2.putText(frame, \"EAR: {:.2f}\".format(ear), (300, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        cv2.putText(frame, \"Blinks: {}\".format(TOTAL), (450, 30),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)\n",
    "        \n",
    "        '''\n",
    "            计算张嘴评分，如果小于阈值，则加1，如果连续3次都小于阈值，则表示打了一次哈欠，同一次哈欠大约在3帧\n",
    "        '''\n",
    "        # 同理，判断是否打哈欠    \n",
    "        if mar > MAR_THRESH:# 张嘴阈值0.5\n",
    "            mCOUNTER += 1\n",
    "            cv2.putText(frame, \"Yawning!\", (10, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        else:\n",
    "            # 如果连续3次都小于阈值，则表示打了一次哈欠\n",
    "            if mCOUNTER >= MOUTH_AR_CONSEC_FRAMES:# 阈值：3\n",
    "                mTOTAL += 1\n",
    "            # 重置嘴帧计数器\n",
    "            mCOUNTER = 0\n",
    "        cv2.putText(frame, \"COUNTER: {}\".format(mCOUNTER), (150, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2) \n",
    "        cv2.putText(frame, \"MAR: {:.2f}\".format(mar), (300, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)\n",
    "        cv2.putText(frame, \"Yawning: {}\".format(mTOTAL), (450, 60),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)\n",
    "        \"\"\"\n",
    "        瞌睡点头\n",
    "        \"\"\"\n",
    "        # 第十五步：获取头部姿态\n",
    "        reprojectdst, euler_angle = get_head_pose(shape)\n",
    "        \n",
    "        har = euler_angle[0, 0]# 取pitch旋转角度\n",
    "        if har > HAR_THRESH:# 点头阈值0.3\n",
    "            hCOUNTER += 1\n",
    "        else:\n",
    "            # 如果连续3次都小于阈值，则表示瞌睡点头一次\n",
    "            if hCOUNTER >= NOD_AR_CONSEC_FRAMES:# 阈值：3\n",
    "                hTOTAL += 1\n",
    "            # 重置点头帧计数器\n",
    "            hCOUNTER = 0\n",
    "        \n",
    "        # 绘制正方体12轴\n",
    "        for start, end in line_pairs:\n",
    "            cv2.line(frame, reprojectdst[start], reprojectdst[end], (0, 0, 255))\n",
    "        # 显示角度结果\n",
    "        cv2.putText(frame, \"X: \" + \"{:7.2f}\".format(euler_angle[0, 0]), (10, 90), cv2.FONT_HERSHEY_SIMPLEX,0.75, (0, 255, 0), thickness=2)# GREEN\n",
    "        cv2.putText(frame, \"Y: \" + \"{:7.2f}\".format(euler_angle[1, 0]), (150, 90), cv2.FONT_HERSHEY_SIMPLEX,0.75, (255, 0, 0), thickness=2)# BLUE\n",
    "        cv2.putText(frame, \"Z: \" + \"{:7.2f}\".format(euler_angle[2, 0]), (300, 90), cv2.FONT_HERSHEY_SIMPLEX,0.75, (0, 0, 255), thickness=2)# RED    \n",
    "        cv2.putText(frame, \"Nod: {}\".format(hTOTAL), (450, 90),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255,255,0), 2)\n",
    "        \n",
    "            \n",
    "        # 第十六步：进行画图操作，68个特征点标识\n",
    "        for (x, y) in shape:\n",
    "            cv2.circle(frame, (x, y), 1, (0, 0, 255), -1)\n",
    "\n",
    "    print('嘴巴实时长宽比:{:.2f} '.format(mar)+\"\\t是否张嘴：\"+str([False,True][mar > MAR_THRESH]))\n",
    "    print('眼睛实时长宽比:{:.2f} '.format(ear)+\"\\t是否眨眼：\"+str([False,True][COUNTER>=1]))\n",
    "    \n",
    "    # 确定疲劳提示:眨眼50次，打哈欠15次，瞌睡点头15次\n",
    "    if TOTAL >= 50 or mTOTAL>=15 or hTOTAL>=15:\n",
    "        cv2.putText(frame, \"SLEEP!!!\", (100, 200),cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 255), 3)\n",
    "        \n",
    "    # 按q退出\n",
    "    cv2.putText(frame, \"Press 'q': Quit\", (20, 500),cv2.FONT_HERSHEY_SIMPLEX, 0.7, (84, 255, 159), 2)\n",
    "    # 窗口显示 show with opencv\n",
    "    cv2.imshow(\"Frame\", frame)\n",
    "    \n",
    "    # if the `q` key was pressed, break from the loop\n",
    "    if cv2.waitKey(1) & 0xFF == ord('q'):\n",
    "        break\n",
    "        \n",
    "# 释放摄像头 release camera\n",
    "cap.release()\n",
    "# do a bit of cleanup\n",
    "cv2.destroyAllWindows()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "14.036243467926484\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "x=np.array([5,3,0])\n",
    "y=np.array([4,4,0])\n",
    "# 两个向量\n",
    "Lx=np.sqrt(x.dot(x))\n",
    "Ly=np.sqrt(y.dot(y))\n",
    "#相当于勾股定理，求得斜线的长度\n",
    "cos_angle=x.dot(y)/(Lx*Ly)#求得cos_sita的值再反过来计算，绝对长度乘以cos角度为矢量长度\n",
    "angle=np.arccos(cos_angle)\n",
    "angle2=angle*360/2/np.pi#变为角度\n",
    "print(angle2)\n",
    "#x.dot(y) =  y=∑(ai*bi)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "90.0\n"
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "a = np.array([0,1,0])\n",
    "b = np.array([0,0,0])\n",
    "c = np.array([1,0,0])\n",
    "# 两个向量\n",
    "Lba = np.sqrt((a-b).dot(a-b))\n",
    "Lbc = np.sqrt((c-b).dot(c-b))\n",
    "cos_angle = (a-b).dot(c-b)/(Lba*Lbc)#相当于勾股定理，求得斜线的长度\n",
    "angle = np.arccos(cos_angle)#求得cos_sita的值再反过来计算，绝对长度乘以cos角度为矢量长度\n",
    "angle2=angle*360/2/np.pi#变为角度\n",
    "print(angle2)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}

Копировать Редактировать Web IDE Исходные данные Просмотреть построчно История

Отправлено 25.12.2019 18:21 24574f8

Опубликовать ( 0 )

Вы можете оставить комментарий после Вход в систему

https://api.gitlife.ru/oschina-mirror/cungudafa-fatigue_detecting.git

git@api.gitlife.ru:oschina-mirror/cungudafa-fatigue_detecting.git

oschina-mirror

cungudafa-fatigue_detecting

master

OSCHINA-MIRROR/cungudafa-fatigue_detecting

Опубликовать ( 0 )

Введение

Обновления

Участники

Недавние действия

OSCHINA-MIRROR/cungudafa-fatigue_detecting .gitee-modal { min-width: 500px !important; } .gitee-modal .close { right: 0.6rem !important; }

Опубликовать ( 0 )

Введение

Обновления

Участники

Недавние действия

OSCHINA-MIRROR/cungudafa-fatigue_detecting